Engineering Mechanics: Statics

Mechanics is the branch of the physical sciences concerned d with ith th the state t t of f rest t or motion ti of f bodies b di subjected to forces.

Engineering Mechanics
Mechanics
Rigid-body mechanics
Dynamics the study of objects in motion
F = ma

Statics - the study of objects in equilibrium

Also F = ma, but a = 0

Deformable-body mechanics Fluid mechanics

Newtons Newton s Laws

1st Law If an object j is in motion, it will remain in motion. If an object is at rest, it will remain at rest, unless a force acts upon it.
When the sum of forces acting g on an object j is zero, , the object j will remain at rest if initially at rest.

2nd Law When the sum of forces acting on an object is not zero, , the sum of the forces is equal q to the product p of the mass and its acceleration.
F = ma

3rd Law The forces exerted by two objects on each other are equal in magnitude and opposite in direction.
For every action, there is an equal and opposite reaction

S l Scalar Physical quantity described by a real number (magnitude , but no direction) Ex. mass, speed

vs.

V t Vector Magnitude and direction

Ex.

weight, velocity

F r F

r F
(magnitude of a vector

r F

(textbook may use bold F)

Vector Addition

Head to tail or Triangle Rule Head-to-tail

U+V=V+U

Vector Addition

Parallelogram Rule

Product of Scalar and Vector

Vector Subtraction

Unit Vectors

Vector Components

Sum of two vectors can be found by simply summing the components.

A man exerts a 60-lb force F to push a crate onto a truck. (a) Express F in terms of components using the coordinate system shown. (b) The weight of the crate is 100-lb. Determine the magnitude of the sum of the forces exerted by the man and the crates weight.

The steel Th t l column l is i supported t d by b two t cables bl which hi h extend t df from th the t top of f the column to the ground and lie in the same plane. The tensions in cables A and B are 13 kips and 10 kips, respectively. What is the magnitude and direction of the resultant force exerted on the top p of the column by y the cables?

60o A

50o B

Position Vector
A position vector can be formed between two physical locations in space. The magnitude of the position vector is the distance between the two points (length).

A surveyor finds that the length of the line OA is 1500 m and the length of the line OB is 2000 m. (a) Determine the components of the position vector from point A to point B. (b) Determine the components of a unit vector that points from point A toward point B.

Vectors in 3-D 3D

Whendealinginthreedimensions,a vectorcanbewrittenintermsof3 components.

Howcanwedescribeavectorin3D (magnitudeanddirection)? 1) Directioncosines/directionangles 2) Doubleprojection 3) Findaparallelline

Direction Angles and Cosines

x

or

or

Direction Angles and Cosines

z

or

There is a relationship between the direction cosines

cos 2 + cos 2 + cos 2 = 1

Double Projection
y

U x

Double Projection
y

Uy j

Double Projection
y

U Uz k z Ux i x

Position Vectors

Components of a vector Parallel to a Line

Ex. When want to express p a force in vector form (components), but we only know the magnitude of the force. We can get the orientation of the force from the parallel line line.

y Express the force acting on the wall at A in terms of its components. 3 A 4 B 9 16 1 T =1.2 kips x

Find the resultant force (magnitude and direction) given the threedimensional system below. y
500N 1000N 60o 60o 45o 30o 20o 700N 150N 650N 45o 25o

Dot Product / Scalar Product

Can be thought of as a measure of the right-angularity of two vectors
Definition,

v v v v U V = U V cos

In terms of components,

v +U y U = U xi j +U zk v + Vy V = Vx i j + Vz k v v ) + U V ( i ) + U xV y (i k U V = U xVx (i j ) + U xVz (i y x ji ) + ...

1 So, 0 0

v v U V = U xVx + U yV y + U zVz

Parallel Component

v v U p = U cos

Parallel Component
v v U = e U cos e
Since the mag. of a unit vector = 1,

v v U = U cos e v v U p = U cos
Therefore,

And we previously determined,

v v U Up = e v v U )e U p = (e

Normal Component
Knowing the Triangle Rule,

v v v U = U p +Un

Therefore,

v v v Un = U U p

Cross Product
Very useful for determining moments

Notice that result is a vector!!!

Definition,

v v v v U V = U V (sin )e

What if 0o (Parallel Lines)?

Cross Product

NOT Commutative,

v v v v U V V U v v v v U V = V U v v v

When multiplying by a scalar,

a (U V ) = (aU ) V = U (aV ) v

Distributive: U V + W = U V + U W

) (

) (

Cross Product: In terms of components

v v U V = U x U y U z Vx
) i ) j

) i

) j

) k

Vy

Vz
) j

v v U V = U x U y U z U x U y V x V y V z Vx V y

) ) k i

(U V ) + (U zVx ) + (U yVx )k = (U yVz )i j + (U xV y )k U zV y )i x z j+(

][

Triple Product
) ) ) i j k v v v V V V +U y U (V W ) = U x i j +U zk x y z Wx W y W z

Ux Uy Uz = V x V y Vz Wx W y Wz

Scalar!!!

Triple Product

v v v U (V W ) = VOLUME

Triple Product
v v v U (V W ) = VOLUME

U V x W (magnitude is area of side!)

Problem 2.108

Determine the angle between the lines AB and AC a) using the law of cosines b) using the dot product

Problem 2.131

The force F = 10i 4j (N). Determine the cross product rAB X F.

Problem2.119 ThediskA isatthemidpointoftheslopedsurface.Thestringfrom A toB exertsa0.2lbforceF onthedisk.IfyouexpressF intermsofvector componentsparallelandnormaltotheslopedsurface,whatisthecomponent normaltothesurface?

Problem2.141 DeterminetheminimumdistancefrompointP tothe planedefinedbythethreepointsA,B,andC.

Forces, o ces, Equilibrium, qu b u , a and d F.B.D.s s

Terminology gy Line of Action the straight line collinear with a force vector

Forces, o ces, Equilibrium, qu b u , a and d F.B.D.s s

Terminology gy Systems of Forces a set of forces which can be two (coplanar) or three-dimensional.

Concurrent forces their lines of action intersect at a point

Parallel forces their lines of action do not intersect

Forces, o ces, Equilibrium, qu b u , a and d F.B.D.s s

Terminology gy External Forces
If the car and driver is th object the bj t under d consideration

the road exerts an external force on the tires, and

Internal Forces

the drivers rear end exerts an internal force on the car seat.

Forces, o ces, Equilibrium, qu b u , a and d F.B.D.s s

Terminology gy Body Forces act on the volume of the object (e.g. gravity and magnetic forces)

Tractor beam!

Surface Forces act on the surface of an object

Forces, o ces, Equilibrium, qu b u , a and d F.B.D.s s

Contact Forces Surfaces

Smooth surfaces only have normal forces.

Normal force f is perpendicular and friction force is parallel to the contact plane.

Forces, o ces, Equilibrium, qu b u , a and d F.B.D.s s

Contact Forces Ropes, Cables, and Pulleys

Tension force is collinear with the cable and acts on box and crane (equal magnitude and opposite direction).

Forces, o ces, Equilibrium, qu b u , a and d F.B.D.s s

Contact Forces Ropes, Cables, and Pulleys
Frictionless pulleys only change the direction of the force, not the magnitude magnitude.
Frictionless bearings in pulley

Forces, o ces, Equilibrium, qu b u , a and d F.B.D.s s

Contact Forces Springs

Original length of spring, Lo

Spring is stretched to length L

Spring exerts a force on the wall Spring constant S has units of force per length (lb/ft or N/m)

Wall exerts an equal and opposite force on the spring

F = k L Lo

* Spring force depends on the change in length of the spring.

Forces, Equilibrium, and F.B.D.s F.B.D. s

Equilibrium q Objects within the Newtonian (or inertial) reference frame are at rest (or constant velocity).

r F = 0

F F

x
y

=0
Constant velocity

=0

Entire train is taken as the reference frame.

Train accelerates

Forces, Equilibrium, and F.B.D.s F.B.D. s

Free Body y Diagrams g Used to isolate objects from their surroundings
Step 1 Identify the object to isolate Step 2 Sketch the object isolated from surroundings Step 3 Draw vectors representing external forces

Forces, Equilibrium, and F.B.D.s F.B.D. s

Free Body y Diagrams g Used to isolate objects from their surroundings
Step 1 Identify the object to isolate Step 2 Sketch the object isolated from surroundings Step 3 Draw vectors representing external forces

Forces, Equilibrium, and F.B.D.s F.B.D. s

Free Body y Diagrams g Used to isolate objects from their surroundings
Step 1 Identify the object to isolate Step 2 Sketch the object isolated from surroundings Step 3 Draw vectors representing external forces

Tension is now an internal force!

What is the tension in the rope?

What is the tension in the rope?

What is the tension in the rope?

Problem 3.44

Problem 3.50

Problem 3.53

Problem 3.35

Three-Dimensional Three Dimensional Force Systems v F = 0

In 2-D,
In terms of components,

F F

x y

=0 =0

In 3-D,

In terms of components, components

F F F

x y

=0 =0 =0

Problem 3.69

SystemsofForcesandMoments
Moments rotationatapointduetoaforceappliedatsomedistance
SignConvention Clockwise=negative Counterclockwise=positive

MP =DF

Intermsofcomponents

M
Fy Dy Dx Fx

= Dx Fy + D y Fx

IflineofactiongoesthroughP

thenMP =0

Problem4.24 Thetensioninthecableisthesameonbothsidesofthep pulley. y ThesumofthemomentsaboutpointA duetothe800lbforceandtheforces exertedonthebarbythecableatB andC iszero.Whatisthetensioninthe cable?

Theweights g W1 andW2 aresuspended p by ythecablesystem y shown.Thecable BC ishorizontal.IfthelargestmomentthatcanberesistedbythepoleDP at pointP is100lbft,determineW1.

TheMomentVector:MomentAboutaPoint

anypositionvectorfromthe pointtothelineofactionof theforce.

Themomentvector

v v v MP = r F

Themagnitudeofthe momentvector

Ifthepositionvector isperpendicular

v v v M P = r F sin i

v v MP = D F

TheMomentVector:MomentaboutaPoint
MomentaboutpointP generated byforceF.

Momentvectorisdrawnaccordingto therotationandrighthandrule.

Moment of a Force About a Line

Thecapstanwillrotateabout theverticalaxis(line) Thelineofactionoftheforce mustbeskewtothelinethat wewanttorotateabout.

Thecapstanwillnotrotate Ifthe h li lineof faction i of fthe h f force isparallelorintersectstheline, thentherewillbenorotation.

Position os o vector ec o from o a any ya arbitrary b a y po point o on line to any point on Line of Action

v v v MP = r F
The cross product will give us the moment about a point on the line. but but we want the moment about the line, line or the component of the moment vector that is in the direction of the line.

The dot product should give us the component acting in the direction of the line. line

v MP ML = e
but but if I want it in vector form form

v M L = [M L ]e

Special Cases
Force is perpendicular to plane containing line Force is parallel to line LOA of Force intersects line

ML = DF

A concrete precast wall section is held by 2 cables, where one cable is not shown (behind wall). The tension in BD = 800 N

Find: a) Moment about point O of the force exerted by the cable at B. b) Moment about the x-axis generated by force BD. c) Angle between cable BD and the vertical side BC BC. y

4m

3.5 m O D 1m z C 35m 3.5

Couples
Couples aretwoforceswithequal magnitudes,oppositedirections,and differentLOAs 100N

100N

Couples
WhatisthemomentgeneratedaboutpointP duetothecouple?

100N

100N

7m 5m

(+CCW ) M P = (100 N )(5m) + ...

(+CCW ) M P = (100 N )(5m) (100 N )(7 m) = 200 N m

Couples

100N 1m P 1m 100N

(+CCW ) M P = (100 N )(1m) (100 N )(1m) = 200 N m

Themomentitexertsaboutanypointisthesame!

(+CCW ) M P = (100 N )(1m) + ...

Problem4.115 Determinethesumofthemomentsexertedontheplatebythe twocouples.

Problem4.114 Themomentoftwocouplesareshown.Whatisthesumofthe momentsaboutpointP?

Samemagnitudenegativelets usknow k that th titi isin i the th oppositedirection

v v v v v M = r1 F + r2 F

] [

v v v v v v v v M = [r1 F ] + [r2 F ] = (r1 r2 ) F

Rememberfromvector addition/subtraction

v v v r2 + r = r1

Thecouplemomentcanbecalculatedusingapositionvector fromonelineofactiontotheother. However,theforcevectoronwhichthepositionvectorendsis theoneusedinthecrossproduct.

v v v M = r F

S i lcase Special

M = DF
Sincethetotalforceexertedbythe coupleiszero,itisoftenrepresented bythemomentitexerts. In2D, D thecouplecanbe representedbyitsmagnitudeanda circulararrow.

Examples of Couples

Theforcesarecontainedinthexyplane. plane a) DeterminethemomentofthecoupleandrepresentitasshowninFig. 4.18c. b) Whatisthesumofthemomentsofthetwoforcesaboutthepoint (10,40,20)ft?

EquivalentSystems

Thetwosystemsareequivalentif: 1)ThesumofforcesinSystem1and2are the h same. 2)Thesumofmomentsaboutapointfor System1and2arethesame.

v v F1 = F2 v v v FA + FB = FD

v v ( M P )1 = ( M P )2 v v v v v v v v v (rA FA ) + (rB FB ) + M C = (rD FD ) + M E + M F

System y 1isequivalent q toaforceand couplemomentactingatQ

Thesimplest systemthatcanbeequivalentto ysystem y offorcesandmoments any

WRENCH

50kft 100k

System1

0.5ft 100k

System2

Ifthesystemofforcesisconcurrent,

wecanrepresentSystem1asasingleforce.

Ifthesystemofforcesisparallel,

wecanrepresentthesystemasasingleforce ataknown k location. l i

FindanequivalentsingleforceandcouplemomentatpointA whichcanrepresentthe systembelow. 25lb 20lb 15lb 10lb 5lb

Canthesingleforceandcouplemomentbereplacedbyasingleforce?

ReplacethesystemofforcesbyasingleforcepassingthroughOandacouple. Canthereducedsystembereplacedfurtherbyasingleforce?

y 3 4 (2,8)ft

F1=200#

F2=300#

60deg (6,4)ft O (4,0)ft x F3=100#

EquivalentSystems:DistributedLoads
15lb 10lb 5lb 20lb 25lb

3 75lb

A 8

EquivalentSystems:DistributedLoads
50lb 50lb

100lb

A 6

EquivalentSystems:DistributedLoads
Splitthe50lbforcesintofour20lb andtwo10lbforces 20lb 20lb 10lb 10lb A 3 3 3 3 20lb 20lb

100lb

A 6

EquivalentSystems:DistributedLoads
Splittheforcessuchthatthedistance betweenthemapproacheszero. Totalof100lbover12,so:

A x

12

wisusually associatedwith distributedloads

100lb lb w( x) = = 8.33 ft ft f 12 f
Functionof distancealong beam Measureofintensity ofloadalongagiven distance

w(x)=1.2k/ft

20

Replacethedistributedloadbyasingle(equivalent)force

kips (20 ft ) = 24kips F = 1.2 ft

24kips 10

Theequivalentforce canbethoughtofas theareaunderthe distributedload

F = w( x)dx
L

20

Forauniform distributed load theequivalentload load, istheareaunderthe loadingcurve,anditacts atthecenter. L/2

Foratriangular distributed load theequivalentloadis load, theareaundertheloading curve,anditacts1/3from theheavyendor2/3 fromthelightend. (2/3)L

L (1/3)L

300plf

plf plf meanspoundsperlinearfoot(lb/ft)

10ft f

8f ft

1500lb

3.33ft

14.67ft

300plf 150plf

10ft f

10ft f 3000lb

750lb

3.33ft

6.67ft

10ft

3000lb 750lb

3.33ft

6.67ft

10ft

3750lb

8.67ft

500p plf 200plf 70plf 70plf

500p plf

6f ft

10ft f

6f ft

6f ft

1 (200 plf )(6 ft ) = 600lb 2

1 2 (500 plf 70 plf )(6 ft ) = 2580lb 2

70 plf (22 ft ) = 1540lb

2580lb@22ft 600lb@4ft

A 1540lb@17ft

(+ ) F

= 600 + 1540 + 2580 = 3520lb

(+ CW ) M A = 600(4) + 1540(17 ) + 2580(22)

= 80540 ft f lb

x=

F M

y A

80540 ft lb = 22.88 ft 3520lb

3520lb

x =22.88ft

ObjectsinEquilibrium

Forcesareno longerconcurrent

Whenweweredealing Wh d li with ith concurrentforces,weanalyzed equilibriumofaparticle.

v F = 0
Theforces Th f generated dnomoment aboutthepoint,sowecouldntuse anyequationsinvolvingmoments. Nowthatweareanalyzingthe equilibriumofanobject thathas massandsize,wecanintroducean equilibriumequationinvolving moments.

v Fv = 0 M anywhere = 0

Generallyspeaking
VectorSum

2D
SumofComponents

v F =0

F F

x y

=0 =0 =0

v M anywhere = 0

anywhere

3 equations,sowecanonlysolvefor3 unknowns

SupportsandtheirReactions
Forcesandcouplesexertedonanobjectbyasupport arecalledreactions

Support

Reactions representsthe restraining i i forces f and dmoments thatthesupportcan offer.

PinSupport
Pinpreventsverticaland horizontalmotion(offersanx andy reaction)

but,pinallowsrotation (cannot t offer ff anyresisting i ti couplemoment)

PinSupport

RollerSupport
Rollercanonlypreventobject frommovinginonedirection (offersonlyanx or y reaction) Pinonwheels!

If A isnegative,therolleris liftingoffoftheground!

KindoflikeaRollerSupport
Thesecanofferresistancein bothdirectionsalongalineof action i

A canbepositiveornegative.

FixedSupport
Object j isembeddedinthewall.

Afixedsupporthas thepotential to developallthree reactions.

FreeBodyDiagrams
F Ax F

Ay W=50lb

50lb Ax Ay

FreeBodyDiagrams
30o 60o B

2000lb

20o 2000lb A 70o

FreeBodyDiagrams
Rx

Frictionlesssurface Ry

FreeBodyDiagrams
20ft (20ft)10plf = 200lb 10ft Ax

10plf

Ay

MA

FreeBodyDiagrams
500N/m Weight=20N/m A 1kNm 3N B

3m

3m

6m

FreeBodyDiagrams
(20N/m)(12m) 1/2(500N/m)(6m)

Bx

A 3N

1kNm

By

3m

3m

4m

2m

(+ CCW ) M B = 0 ( ) 1000 N m (12m )A 3 N (9m ) + 20 N m 12m 6m +

A = 451.08 N 1 (500 N ) ( ) m 6m 2m = 0 2

FreeBodyDiagrams
(20N/m)(12m) 1/2(500N/m)(6m)

Bx

A 3N

1kNm

By

(+ ) F

3m

3m

4m

2m

=0 1 N (500 m )6m + By = 0 2

(+ ) Fx = 0
Bx = 0

N )12m 451.08 N + 3 N (20 m

B y = 1285.92 N

IfF =4kN,whatarethereactionsatA andB?

Problem5.18 Drawthefreebodydiagramofthestructureby isolatingitfromitssupportsatA andE.DeterminethereactionsatA andE.

Problem5.55 Supposethatyouwanttodesignthesafety valvetoopenwhenthedifferencebetweenthepressurep inthe circularpipe(diameter=150mm)andatmosphericpressureis10 MPa.Thespringiscompressed20mmwhenthevalveisclosed. Whatshouldthevalueofthespringconstantbe?

Problem5.63 Theboomderricksupportsasuspended15kip load TheboomsBC andDE areeach20ftlong load. long.Thedistancesare a =15ftandb =2ft,andtheangel =30o.Determinethetension incableAB andthereactionsatthepinsupportsC andD.

6ft

1ft 5ft 120lb/ft

A selfwt wt.=100lb/ft

W1

W2 A) FindW2 forequilibriumifW1 =400lb. B) FindthereactionsatAandB.

beam.wt.=70plf A 50o 4ft B 3ft 3ft 3 Findthereactions. 30ftlb C 4

Bm.Wt.=70plf A 4ft B 3ft 3ft 30ftlb C

Howisthisdifferentthantheprevious?

StaticallyIndeterminateObjects
F = 0 F = 0 M
x y

3equations,3unknowns

anywhere

=0
Wecansolve NOTALWAYS! !

StaticallyInd. Case1
Moreunknownsthanequationsofequilibrium. How? Moresupportsthantheminimum number necessarytomaintainequilibrium(redundant supports)

8unknowns,so (83)=5degrees ofredundancy(or indeterminacy)

F=100N A B

1m

1m

100N Ax Ay 1m 1m B

FBD

MA

StaticallyInd. Case2
ImproperSupports theobjectwillmove!

A F

B Objecttakesoff downtheroad!!!

F
Ay By

Thisoccursanytimeallofthereactions areparallel parallel

A F

3eq.and3unknowns,butwerestillindeterminate!

orconcurrent! A F B

IfFcausesamomentaboutpointP,thentheobjectrotates!

P However

Properlyorimproperlysupported?

StaticallyInd. Case1
Moreunknownsthanequationsofequilibrium. How? Moresupportsthantheminimum number necessarytomaintainequilibrium(redundant supports)

8unknowns,so (83)=5degrees ofredundancy(or indeterminacy)

StaticallyInd. Case2
ImproperSupports theobjectwillmove!

A F

B Objecttakesoff downtheroad!!!

F
Ay By

Thisoccursanytimeallofthereactions areparallel parallel

A F

3eq.and3unknowns,butwerestillindeterminate!

orconcurrent! A F B

IfFcausesamomentaboutpointP,thentheobjectrotates!

P However

Properlyorimproperlysupported?

Problem5.76
StatewhethereachoftheLshaped p barsshownisp properly p yorimproperly p p y supported.Ifabarisproperlysupported,determinethereactionsatits supports.

Equilibriumin3D
2D v F = 0 v M = 0 3D

F F

x y

=0 =0 =0

v F =0

F F F

x y

=0 =0 =0

anywhere

v M = 0

M M M

x y z

=0 =0 =0

6scalarequilibriumequations!

SupportsandReactions
BallandSocket Freerotation,but no translationin anydirection.

Balland socketjoint toconnect thehousing ofanearth gradertoits frame.

SupportsandReactions
Roller Aballandsocketonwheels. Freerotation,freetranslation inthexzplane,butno translationintheydirection

SupportsandReactions
Hinge Canrotatefreelyonlyabout thehingeaxisandcannot translate.

Pinused to supporta strutona tractor.

Whydontwe useonlyone hingeona door?

TheforcesFx exertacouple momentto resistthe momentdueto theweight.

SupportsandReactions
Bearing Similarreactionstothoseof thehinge,butinsomecases, translationisallowedinthe longitudinaldirection. Somebearingsdonotrestrict translationinthezdirection. direction

Journal bearing usedto support theend ofa shaft.

Thrust bearing usedto support adrive shaft.

SupportsandReactions
Fixed Notranslationorrotation.

Problem5.149
The80lbbarissupportedbyaballandsocketsupportatA,thesmoothwall itleansagainst,andthecableBC.Theweightofthebaractsatitsmidpoint. a) Drawthefreebodydiagramofthebar. b) DeterminethetensionincableBC andthereactionsatA.

TwoandThreeforceMembers
Atwof forcememberissubjected j tonocouple p momentsandforces areappliedtoonlytwopointsonthemember.Weightisneglected. Noticethatthetwoforcesarecollinear.

Twoforcememberswillmaintaintranslational(orforce) equilibrium ifFA andFB areequalandopposite.

Twoforcememberswillmaintainrotational(ormoment) equilibrium ifFA andFB arecollinear.

Therefore,onlythemagnitudeoftheforcemustbedetermined, sincethedirectioncanbedeterminedbythelineAB.

Athreeforcememberissubjectedtoonlythreeforcesthatmustbe eitherconcurrentorparallel.

LOAsareparallelandintersectatinfinity

=0

=0

Trusses
Atrussisastructurecomposedofslendermembersjoinedtogetherattheir endpointstwo points twoforcemembers members.

Welded,bolted,or rivetedtoagusset plate

Connectedwithlargebolt

Atrusscanonlybeloadedatthejoints, andthemembersareassumedtobe weightless(negligible).

Topchords

Bottomchords Topandbottomchordsusuallycarrysignificantly higherloadsthanthewebelements.

Web

Roof R ftrusses t aretypically t i ll loaded l d donthe th topjointswhereasbridgetrussesare typicallyloadedonthebottomjoints.

TrussAssumptions: 1) Loadedonlyatjointswhichareassumedtobepinned 2) Composedentirelyoftwoforcemembers 3) Neglectweight(weightless)

Warrentruss

Tension forcepointsaway Compression forcepointstoward

Thoughactualtrussesareseldompinnedjointsorconnections connections,theyare designed suchthatthecouplemomentsexertedatthejointsaresmall comparedtotheaxialforces!

TrussAnalysis:MethodofJoints
Firststep pistodrawaF.B.D.andsolveforthereactions.

TrussAnalysis:MethodofJoints
Second, examinetheaxialforcesacting gonthejoints j (equilibriumofaparticle)startwithknowns.

TrussAnalysis:MethodofJoints
Twowaysofviewingatthejoint joint Cutthroughmember TAB Lookatforcesonpin TAB 60o TAC 500N 500N 60o TAC

TrussAnalysis:MethodofJoints
Thirdly y,usethetwoavailableequations q ofequilibrium q to solveforthetwounknownsandverifytheircorrectsense (tensionorcompression).

F F

x y

=0 =0

Cannotusesumof momentssinceforces areconcurrent.

MemberABis577Nintension MemberACin289Nincompression

TrussAnalysis:MethodofJoints
Lastly y,methodically ymovefromj jointtoj joint, ,anddetermine theaxialforcesineachmember.

Moveherenext

orhere.

Determinetheforceineachmemberofthetrussshown.Indicatewhether themembersareintensionorcompression.

ZeroForceMembers
Supposewewanttousethemethodofjointsto determinetheaxialforcesinthemembers

Itwouldgreatlysimplifytheprocessifwecouldidentify anymembers b which hi hdo d notsupportanyloading l di (zero forcemembers).

ZeroForceMembers

Therefore,membersABandAFarezeroforcemembers Therefore underthisparticularloading. However,theymaynotlongerbezeroforcemembersif theloadingchanges!

ZeroForceMembers

ZeroForceMembers

Nowthereareonly4jointstoconsider!

H canweeasily How il id identify tif zeroforce f members? b ?

Threemembers,twoofwhichare collinear,andno load.

Twononcollinear membersandno load.

Byinspection,whichofthe followingarezeroforce members?

Byinspection,determineallthezeroforcemembersoftheFinkrooftruss. Assumealljointsarepinconnected.

24kips

36kips

Forthetrussshownbelow,determineallzeroforcemembersandtheaxialforce inmemberLO LO.

MethodofSections
Quickermethodofdeterminingtheaxialforceinaparticularmember.

WhatifIonlycareabouttheaxialforceinmemberBC? DoIstillhavetogothroughthemethodofjointstoeventually gettoBC?

MethodofSections
Afterdetermining gthereactionsatthe supports,wecanmakeacutthrough thetrusstofindtheaxialforcesinthe desiredmember.

Noticethatwehavetocutthroughthe memberinq question( (BC). ) Afterwemakethecut,removeoneside ortheotherandincludetheunknown axialforces. Ourforcesarenolongerconcurrentlike theywereinthemethodofjoints joints...we we canusethesumofmomentsequation!

MethodofSections

=0
WecanfindTBC directly!

M F

=0
WecanfindTBD directly!

=0
Nowwecan findTAC

Wecanonlycutthroughasmanymembersasour equationsofequilibriumwillallowustosolve.

ThePratt Th P ttbridge b id truss t is i subjected bj t dto t the th loading l di shown. h D Determine t i th the forceinmembersJI,EI,andDE.

Forthetrussshownbelow, a) Identifyallzeroforcemembers; b) Determine D i the h axial i lf forcei inmembers b BGand dABusing i the h method h dof f sections;and c) DeterminetheaxialforceinmemberBEusingthemethodofjoints.

FramesandMachines
Frames Remainstationary andsupport loads Machines Move andapply loads

Framesandmachinesaretwocommonpinconnectedstructures composedofmultiforce members. Theyarenot entirelycomposedoftwoforcemembersandcannot beanalyzedliketrusses!

Determinetheforcesoneachofthemembersoftheframe.

Step1:

Analyzetheentirestructure(a.k.a.findthereactionsatthesupports). 6kN

Ax

B C 1m Ay 8kN 1m Gx E Gy D

1m

1m

1m

Step2:

Disassembletheframe.

Loadatjoint?Itdoesntmatter, butonlyatoneofthejoints. 6kN

13 T Ay Cy Cx T

Cx

Cy

Twoforcemembers! T Dy T 5 Dx Cy Dy Dx

8kN

Fortheframeshown, shown drawthefreebodydiagramsof(a)theentire frameincludingthepulleysandcords,(b)theframewithoutthepulleys andcords,and(c0eachofthepulleys.

Determinethehorizontalandverticalcomponentsofforcewhich thepinatC exertsonmemberABCD oftheframe.

Problem6.73 TheforceF=10kN. DeterminetheforcesonmemberABC, presentingyouranswersasshowninFig.6.25.

Problem6.88 TheweightW =80lb.Determinethe forcesonmemberABCD.

Problem6.83 Themassm =50kg.BarDE ishorizontal. DeterminetheforcesonmemberABCD,presentingyour answersasshowninFig.6.25.

Problem6.133 DeterminethereactionsonmemberABC atB andC.

InternalForcesandMoments
P Whendealing Wh d li with i htwoforce f members, b we cancutthroughthemembertodeterminethe internalforce. P

Theonlyinternalforceisanaxialforce!

InternalForcesandMoments

Whendealing Wh d li with i hthree h force f (or ( more) ) members,wegetmoreinternalforcesthan justasimpleaxialforce!

M (Internalbendingmoment) P (Internalaxialforce) V (Internalshearforce)

B Whycantweperformamethodof sectionsonaframe? D E

PositiveSignConventions

Positiveshearforcesmakethe segmentrotateclockwise

Positivebendingmoments rotatethesegment upwardsmakethesegment smile!

Beams Long,slenderstructuralmembers whichareintendedtosupportloads perpendiculartoitslongitudinalaxis.

Columns Loadsareprimarilyappliedparalleltothe longitudinalaxisandarecompressive. compressive

TypesofSupports

Simplysupported

Overhanging

Cantilevered

Fixed Propped

3spanContinuous

TypesofLoads

Concentrated

Uniformdistributed Moment/couple/puremoment

Nonuniformdistributed

Combined

10ft 10lb/ft

5ft 200lb

5ft 10lb/ft

5ft

2.5ft

2.5ft 200lb

A 50lb

350lb

(+ ) Fy = 0 VD = 100lb (+CCW ) M D = 0 M D = 375lb ft

(+ ) Fy = 0 VC = 200lb (+CCW ) M C = 0 M C = 500lb ft

250 200 150 100 Shear(lb) 50 0 50 0 100 150 200 Distancealong gbeam(ft) ( ) 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15

0 0 200 Mo oment(ftlb) 400 600 800 1000 1200 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15

Distancealongbeam(ft)

25kN/m 8kN/m 200kNm A 5m C 1 8m 1 5m 1.8 1.5 D 3 7m 3.7 B

DeterminetheshearforceandbendingmomentatpointC C.

ShearandBendingMomentDiagrams
Plotoftheshearforceandbendingmomentalongthelengthofthebeam beam. F

2/3L F

1/3L

2/3L 1/3F

1/3L 2/3F

2/3 / L 1/3F x

1/3 / L 2/3F

Betweenx=0andx=2/3L M P x V 1/3F

(+CCW ) M cut = 0 M (1 3 F )x = 0 M =1 3 Fx

(+ ) Fy = 0 V + 1 3 F =0 V=1 3 F

2/3 / L 1/3F x

1/3 / L 2/3F

Betweenx=2/3Landx=L F M P x V 1/3F

(+ ) Fy = 0 V + 1 3 F F =0 V = F
2 3

(+CCW ) M cut = 0
2 M (1 3 F ) x + F ( x 3 L) = 0

M=2 3 F ( L x)

RelationshipBetweenLoading,Shear,and B di Moment Bending M

w

V = ( w)dx
V

dV = w d dx

M = V dx
M

dM =V dx

Drawtheshearandbendingmomentdiagram. 100lb

20ft 50lb

20ft 50lb

Drawtheshearandbendingmomentdiagram. 5ft 10lb/ft 5ft 2.5ft 2.5ft 200lb

A 50lb

350lb

4 ft 40 plf

3 ft

8 ft

450 ft-lb

300 lb

V (lb)

M (lb-ft)

10 ft 50 plf 50 lb

10 ft 75 ft-lb

V (lb)

M (lb-ft)

Centroids & Center of Mass/Gravity

Centroid The geometric center of an object. y

x y

x 2L/3

Centroids & Center of Mass/Gravity

y

y=1 3 L
x

x=2 3 L
Centroid only depends on geometry, not density

In general

Coordinates of the centroid, or average position, of an area is y

x=

xdA
A

dA
A

y=

ydA
A

y = x2 x + 1 2 Determine the x-component of the centroid of the area. x

dA
A

Centroids of Composite Areas

In discrete form, or when dealing with a combination of simple shapes y 1

x=

xdA
A

dA
A

x A x= A
i i i i i

2 x

y=

ydA
A

dA
A

y A y= A
i i i

Sum of individual centroids times area Sum of areas

12 18 4 6 4 15

6 24

y =? x =?

Find the location of the centroid.

4 4 1

Centroids & Center of Mass/Gravity

Center of gravity vs. Center of mass

The point at which the resultant weight of a system of particles acts. Since c.g. depends on the acceleration of gravity, center of mass is a better term to use.

Center of gravity of the solar system??? Center of mass is independent of gravity.

c.g.

Center of mass

xW x= W yW y= W zW z= W
(4,8)ft 100 lb Find the center of gravity.

xm x= m ym y= m zm z= m
(10,6)ft (5,3)ft 100 lb

300 lb

Moments of Inertia
Area Moment of Inertia - used to calculate stresses and deflections in beams. Mass Moment of Inertia - used in Dynamics to calculate the rotational motions of objects.

Can be thought of as a measure of the cross-sectional areas resistance to bending. F

Much easier to bend the board in this orientation F

than this one.

By nature, the cross-section will try to rotate about its centroidal axis. v.s. x h b

b only for a rectangular cross-section

1 3 I x = bh 12 1 I x = (1.5)(2.5) 3 = 1.95in 4 12 1 I x = (2.5)(1.5) 3 = 0.70in 4 12

We are taking the larger dimension to the third power, therefore we get a larger moment of inertia about the centroidal x-axis.

Moment of inertia about x-axis

I x = y 2 dA
A

I x = kx A
2

kx (rx ) is called the radius of gyration

Moment of inertia about y-axis

I y = x 2 dA
A

I y = ky A
2

x=

xdA
A

1st moment of an area

dA
A

I y = x 2 dA
A

2nd moment of an area

Determine the moment of inertia of the area bounded by the curve and the vertical line.

y 2 = 400 x

200 mm

100 mm

What is the moment of inertia about the x and y-axis for the following shapes? y y

10

Diameter = 4 4

What if the shape is removed some distance away from a parallel axis? y Diameter = 4 C(6,10)in x

d is the distance from parallel axis to the axis of the individual shape. x Parallel Axis Theorem

I x = I x ' + Ad y I y = I y ' + Ad x

2 2

12 18 4 6 4 15

6 24

y = 23.76" x = 72"
What is the moment of inertia about the centroidal x-axis of the large beam?

Polar Moment of Inertia

Resistance to rotation about the origin (or z-axis)

J O = r 2 dA
A

OR

J O = kO A
2

JO = I x + I y

where kO is the radius of gyration about the origin.

2

kO = k x + k y
2 2

Determine the moment of inertia, both Ix and Iy, about the x and y-axis.

Determine the location of the centroid.

Determine the moment of inertia, both Ix and Iy, about the centroidal x and y-axis.

What is the polar moment of inertia?

Determine the moment of inertia and polar moment of inertia about the centroidal axes.

2-1/8

What is the radius of gyration about the x and y-axis?

Determine the moment of inertia about the centroidal x and y-axis.

Determine the location of the centroid.

4 2 x 5/8 3 1 1 2 1

Friction

Book is not in static equilibrium.

Frictional component opposes motion!

Before, we assumed a smooth surface but in reality, the surface has some degree of roughness which contributes to friction.

Frictional component opposes motion!

= Angle of Friction, or the Internal Friction Angle

Frictional force only increases as the need arises in order to maintain static equilibrium.

f = s N
f No motion Motion F Impending motion

f = k N

Are the surfaces in motion relative to each other?

f No Yes F Is slip impending? Yes f No F

f = k N tan k = k
Friction force opposes motion

f = s N tan s = s
Friction force opposes impending motion

You must determine mag. and direction using eq. of equilibrium.

A 200-lb block is initially at rest on the horizontal surface. If s = 0.35 and k = 0.2 between the surfaces, find the magnitude of the friction force acting on the block when P is: a) 30 lbs, b) 50 lbs, c) 70lbs, and d) 90 lbs 200 lbs P

3 Problem Types
Equilibrium B 100-N bars

A A = 0.3 Using sum of forces and moments for each bar (6 eq. and 6 unknowns), find NA, fA, NC, and fC.

C C = 0.5

then verify that

f A 0.3 N A

f C 0.5 N C

3 Problem Types
Impending Motion At All Points

What is the largest force for which the boxes will not slip?

The ends of the bar must slip at the same time.

3 Problem Types
Impending Motion At Some Points

Either block A slips relative to B, or both A and B move together.

The mass of box A is 15 kg, and the mass of box B is 60 kg. The coefficient of static friction between boxes A and B and between box B and the inclined surface is 0.12. What is the largest force for which the boxes will not slip? What is the smallest force for which the boxes will not slip?

The mass of box A is 15 kg, and the mass of box B is 60 kg. The coefficient of static friction between boxes A and B and between box B and the inclined surface is 0.12. What is the largest force for which the boxes will not slip?

What is the smallest force for which the boxes will not slip?

Two blocks resting on each other weigh 200-lb and 75-lb, respectively. If the coefficient of friction between the blocks is 0.5 and between the 75-lb block and the floor is 0.3, determine the largest force P that can be applied without upsetting equilibrium.

200 lb

75 lb

Tipping / Overturning
3 ft F 5 ft 52 in If the surface is rough (large s) then N shifts to the corner and the crate tips over. As F increases, either the crate will be on the verge of sliding (f = sN), or F W

f N x

250 lb s = 0.25 Will the refrigerator tip or slip?

W f N

The refrigerator has a weight of 250-lb. If F = 60-lb, determine if it remains in equilibrium. 2 ft F 5 ft 52 in

250 lb s = 0.25

The crate has a mass of 20-kg. If P = 80N, determine if it remains in equilibrium. P 30o

0.2 m 0.8 m s = 0.3

Wedges
A bifacial tool with the faces set at a small acute angle. When pushed forward, the faces exert very large normal forces!

Wedges are very efficient when there is no friction however, they may slip out!

The box A has a mass of 80-kg, and the wedge B has a mass of 40-kg. Between all contacting surfaces, s = 0.15 and k = 0.12. What force F is required to raise A at a constant rate?

The box A has a mass of 80-kg, and the wedge B has a mass of 40-kg. Between all contacting surfaces, s = 0.15 and k = 0.12. What force F is required to raise A at a constant rate? For Block A:
() Fx = 0 f1 cos10 N1 sin 10 + N 2 = 0 () Fy = 0 784.8 f 2 f1 sin 10 + N1 cos10 = 0

For Block B:
() Fx = 0 F + f1 cos10 + N1 cos10 + N 3 sin 10 + f 3 cos10 = 0 () Fy = 0 392.4 f 3 sin 10 + f1 sin 10 + N 3 cos10 N1 cos10 = 0

Belt Friction

The force T2 necessary to cause impending slip of the rope in the direction of T2 is

T2 = T1e

Belt Friction
T2 is always the larger of the two forces

T2 = T1e

is the angle of contact in radians.

I want the rope to slip in the direction of T2

What are the maximum and minimum values of F that may be applied without causing the 6 ft x 3 ft, 100-lb block to slip or tip? The coefficient of static friction between the block and the ramp is 0.5, and the coefficient of static friction between the rope and the fixed drum is 0.3.

3 ft

3 ft

6 ft F 30o 100 lb

Find the minimum and maximum values of P which may be applied without causing the 200 lb block to slip. The coefficient of friction between the platform and the block is 0.8; the coefficient of friction between the rope and the drum is 0.2. Assume that the platforms attached to the identical springs (k = 75 lb/in) are only able to move horizontally. Each spring is compressed 1.2 in relative to its original length.
P

200 lb

Platform