Using Matlab in Engineering Static

Using MATLAB in Statics
A Guide to Using MATLAB in ECE210 Statics

Dhaval Shah, Robert Hinks and S. D. Rajan Department of Civil Engineering Arizona State University Tempe, AZ 85287-5306
August 2000
TABLE OF CONTENTS Chapter 1 2 Introduction Sample Problems and Further Exercises 2.1 Forces on a Particle 2.1.1 Problem 2.1.1 Forces on a barge 2.1.2 Problem 2.1.2 Crate on an inclined plane 2.1.3 Problem 2.1.3 Equilibrium of a suspended lamp 2.2 Rigid Bodies and Equivalent Force Systems 2.2.1 Problem 2.2.1 Automobile towing bar 2.2.2 Problem 2.2.2 Calculation of a torque 2.2.3 Problem 2.2.3 Calculation of resultant force and moment 2.3 Distributed Forces: Centroids and Center of Gravity 2.3.1 Problem 2.3.1 Centroid of a quadrant of ellipse 2.3.2 Problem 2.3.2 Centroid of a jetway 2.3.3 Problem 2.3.3 Equivalent force in an automobile 2.4 Equilibrium of Rigid Bodies 2.4.1 Problem 2.4.1 Overhanging roof 2.4.2 Problem 2.4.2 Tow truck mechanism 2.4.3 Problem 2.4.3 Folding platform 2.4.4 Problem 2.4.4 Power-line pole 2.5 Truss Analysis 2.5.1 Problem 2.5.1 Cantilevered truss analysis 2.5.2 Problem 2.5.2 Truss analysis of a jack support stand 2.5.3 Problem 2.5.3 Space frames supporting window washing scaffold 2.5.4 Problem 2.5.4 Lever system 2.5.5 Problem 2.5.5 Plow mechanism 2.6 Beam and Frame Analysis 2.6.1 Problem 2.6.1 Airplane wing acting as a cantilevered beam 2.6.2 Problem 2.6.2 Computation of tension in cable segments 2.7 Friction 2.7.1 Problem 2.7.1 Block on an inclined plane 2.7.2 Problem 2.7.2 Leveling of refrigerator using a wedge Page 3 4 5 6 8 10 13 14 17 18 21 22 24 26 28 29 31 34 36 39 40 42 45 49 51 53 54 56 58 59 61
Chapter 1 Introduction
There is a class of engineering problems that requires numerical solution either because finding exact solutions is tedious, or because exact solutions cannot be found. Computer programs are indispensable in finding numerical solutions. A wide choice of options is available including traditional high-level programming languages such as FORTRAN, C, C++ etc. MATLAB provides a different option. It is an integrated environment where numerical computations can be carried out either using MATLAB commands, or using a user-written program. Excellent references are available to study, understand and use the capabilities of MATLAB. The reader is encouraged to use these references. An excellent list is available at the following web site: http://www.mathworks.com/support/books/index.php3. The Student Edition of MATLAB has several manuals and tutorials. One of them MATLAB: The Language of Technical Computing (using_ml.pdf) provides a good starting point. The developers of MATLAB, Mathworks, Inc. have an excellent web site (http://www.mathworks.com) where additional resources can be found. In addition, there are several books available that combine numerical analysis and MATLAB. In this guide we will take a look at solving problems in statics using custom MATLAB programs. In other words, we will develop custom computer programs using the MATLAB programming language. These programs are developed usually using the MATLAB editor, and the computer program is saved in one or more .m files. All the problems are taken from the current textbook for ECE210 Engineering Mechanics: Statics by R.W.Soutas-Little and D.J.Inman, a Prentice-Hall publication (ISBN: 0-13-769001-0). The first step in this process is to understand the (statics) theory necessary to solve the problem. Second, one must write an algorithm (a sequence of steps) that outlines how the problem input can be used along with the theory to generate the required output. Third, these steps must be translated into correct MATLAB statements. Inherent in these steps is the possibility of making logical errors (errors that are based on flawed theory) or syntax errors (errors in translating the algorithmic steps into MATLAB statements). Each one of us must find ways of debugging these errors. As a starting point, become familiar with the MATLAB environment. Run a few simple examples that are command driven. Later, develop a few simple programs in MATLAB to solve very simple problems whose solution can be easily checked by hand. Once you have mastered this, you are ready to understand the examples in this guide and solve the computer-based problems in the ECE210 text.
Chapter 2 Sample Problems and Further Exercises

The problems in this chapter follow the sequence in a standard statics text, and include problems from the following topics. (1) (2) (3) (4) (5) (6) (7) Forces on a Particle Rigid Bodies and Equivalent Force Systems Distributed Forces: Centroids and Centers of Gravity Equilibrium of Rigid Bodies Truss Analysis Beam and Frame Analysis Friction
Each of these topics has two or more example problems that have been solved using MATLAB. Every problem is usually divided into two parts (1) the MATLAB solution to the problem, and (2) suggested further exercises. In (2), additional questions are posed and you are required to modify the .m file to find the numerical (or, even symbolic) solution. Note that the MATLAB solution is not unique. The computer statements can usually be structured in a variety of ways. However, the answers in almost all cases, are unique.
2.1 Forces on a Particle Three problems are solved in this section. This Guides Problem ID Problem 2.1.1 Problem 2.1.2 Problem 2.1.3 Corresponding Problem from ECE210 Text Problem 2.11 on page 39 Problem 2.106 on page 90 Problem 2.109 on page 91 Problem Title Forces on a barge Crate on an inclined plane Equilibrium of a suspended lamp
Problem 2.1.1 Forces on a barge
A barge is pulled by two tugboats as shown in the Figure P2.11. To move the barge along in the water properly, the tugboats must exert a resultant force of 5000 lb along the direction of motion of the barge. First determine the tension in each rope if the position of tug b is such that = 45. Second, suppose that tug b can move anywhere such that 0 90 . Determine the angle at which the angle in the Tug Bs rope is maximum, and again, at which the tension has minimum value, still maintaining the resultant of 5000 lb along the x-direction.
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MATLAB File % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % 1 2 3 4 5 6 7 --------------------------------------------------------------------------AUTHOR: Dhaval Shah LAST UPDATE: August 4, 2000 REFERENCE: Problem 2-11 on pg. 39 in Engineering Mechanics Statics by Soutas. PROBLEM OVERVIEW: This problem deals with finding out the force "Tb" in the rope between the tug B and the barge when the angle Beta = 45 and the resultant force is 5000 lb. The second part of the problem deals with finding out the maximum and minimum force Tb while 'Beta' varies between 0 and 90 degrees. CONCEPT KEYWORDS: Free-body diagrams, Equilibrium equations VARIABLE DICTIONARY: Variable Remarks Status ------------------Tb Force in rope connecting barge to tug B To be computed Ta Force in rope connecting barge to tug A To be computed Beta Angle between horizontal and rope connecting barge to tug B Given Alpha Angle between horizontal and rope connecting barge to tug A Given FResultant Resultant force Given AInc Angular increment to be used with angle Beta To be defined TbMax Max. force in rope to tug B To be computed AngleMax Corresponding value of angle beta To be computed TbMin Min. force in rope to tug B To be computed AngleMin Corresponding value of angle beta To be computed ---------------------------------------------------------------------------Set default values FResultant = 5000; Alpha = 30; Beta = 45; AInc = 10;
% % Convert angles to radians AngleToRadians = pi/180; BetaR = Beta * AngleToRadians;
AlphaR = Alpha * AngleToRadians; % % ===== Part 1 of the problem ================================================== % Write the two equations of equilibrium and eliminate Ta. b = (sin(BetaR) * cos(AlphaR) / sin(AlphaR)) + cos(BetaR); % Compute the force in rope from barge to tug B Tb=FResultant/b; % Display the result fprintf('The force in the rope connecting barge to tug B is Tb=%g lb\n', Tb); % % ===== Part 2 of the problem ================================================== % The angle beta will be varied between 0 and 90 degrees in increments of AInc % degrees. % We will store these values in a vector called AnglesV % We will store the corresponding value of the force Tb in vector TbV TbMin = 2*FResultant; TbMax = 0; % Now loop through all possible values of beta I = 0; for Angle = 0:AInc:90 I = I + 1; AnglesV(I) = Angle; BetaR = AnglesV(I)*AngleToRadians; b = (sin(BetaR) * cos(AlphaR) / sin(AlphaR)) + cos(BetaR); % Compute the force in rope to tug B TbV(I)= FResultant/b; % Track the maximum value if TbV(I) > TbMax TbMax = TbV(I); AngleMax = AnglesV(I); end % Track the minimum value if TbV(I) < TbMin TbMin = TbV(I); AngleMin = AnglesV(I); end end % Now we will plot the force in rope Tb versus the angle beta plot (AnglesV, TbV); grid; xlabel ('Beta (degrees)'); ylabel ('Tb (lb)'); % Display the result fprintf ('The minimum force in the rope is Tbmin = %g lb. at angle %g\n',... TbMin, AngleMin); fprintf ('The maximum force in the rope is Tbmax = %g lb. at angle %g\n',... TbMax, AngleMax); % % % % % % ============================================================================== FURTHER EXERCISES (1) Get a better answer for part 2 by changing the value of AInc. What is your conclusion? (2) Do the orientation of the maximum and minimum forces depend on the resultant force?
Problem 2.1.2 Crate on an inclined plane A 100-kg crate is held in equilibrium as it rests on a frictionless inclined plane making an angle with the horizontal (see Figure P2.106). (a) Compute the tension in the cable T and the normal force at the surface for = 30 . (b) Compute the tension in the cable T and the normal force at the
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surface for at 5 increments, increasing from 0 to 90. Is there some value of for which T = N?
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MATLAB File % % % % % % % % % % % % % % % % % % % % % % % % ----------------------------------------------------------------------------AUTHOR: Dhaval Shah LAST UPDATE: August 4, 2000 REFERENCE: Problem 2-106 on pg. 90 in Engineering Mechanics Statics by Soutas. PROBLEM OVERVIEW: This problem deals with finding out the tension in the cable that holds the crate resting on an inclined surface at an angle Theta with respect to the horizontal. The second part of the problem deals with finding out the tension in the cable for different values of Theta. CONCEPT KEYWORDS: Free-body diagrams, Equilibrium equations VARIABLE DICTIONARY: Variable Remarks -------------T Force in cable connecting crate to wall Theta Angle between inclined plane and horizontal M Mass of crate W Weight of crate AInc Angular increment to be used with angle theta N Normal Component of weight of crate (90deg. to inclined plane) g Acceleration due to gravity = 9.81 m/s^2
Status -----To be computed Given Given To be computed To be defined To be computed Given
% ------------------------------------------------------------------------------% Set default values: Theta = 30; M = 100; g = 9.81; AngleToRadians = pi/180; W = M * g; ThetaR = Theta*AngleToRadians; AInc = 1;
% Using the equilibrium equations along the axis of the inclined plane: T = W * sin(ThetaR); % equation (A) % Display results fprintf('The force in the cable is T = %g N\n', T); % Normal reaction N = W * cos(ThetaR); % equation (B) fprintf('The normal force N = %g N\n', N); %=====================part b=================================================== % Theta is now stored in a vector (ThetaV) with Theta varying from 0 to 90 degrees % in increments of AInc. % ThetaV is now a vector of 18 elements (with Ainc = 5) from 0 to 90. ThetaV = (0:AInc:90); % Reuse Eqns. (A) and (B) and store the force values in vector TV and NV TV = W * sin(ThetaV * AngleToRadians); NV = W * cos(ThetaV * AngleToRadians); % Find for what value of Theta, T = N AngleEquals = -1; TOL = 0.1; I = 0; for Angle = 0:AInc:90 I = I + 1; % check whether the T and N are almost equal if (abs(TV(I)-NV(I)) <= TOL) AngleEquals = Angle; break; end % check whether the (T-N) has changed sign if ((Angle ~= 0 & Angle ~= 90) & (TV(I-1) <= NV(I-1) & TV(I) >= NV(I))) AngleEquals = Angle; break; end end fprintf('The normal force N = T when theta=%g\n', AngleEquals); % The plot function plots the different values of T against its corresponding % value of Theta varying from 0 to 90 degrees. plot (ThetaV, TV); grid; Xlabel ('Theta (degrees)'); Ylabel ('T (N)'); % % % % % % % % % ============================================================================== FURTHER EXERCISES (1) If the cable connecting the crate to the wall is replaced by a spring system whose stiffness is known (say k=1000 N/m), what would be the displacement in the spring? (2) How would you solve the problem if the cable is not parallel to the inclined plane but is at an angle of 20 degrees clockwise from the plane, i.e. the point of attachment of the cable to the wall is 20 degrees higher than the point of attachment of the cable to the crate?
Problem 2.1.3 Equilibrium of a suspended lamp A 25-lb light fixture is suspended from a ceiling by four cords attached at a point, with the geometry given in Figure P2.109. (a) Assuming that gravity acts along the z-axis, calculate the tension in the four cords. The dimensions are given in feet. (b) Investigate the effect of the tensions in the cords of moving the lamps to different heights by changing the z-coordinate of the point where all the four cords meet from 5 ft to 10 ft and then to 1 ft.
MATLAB File % 1 2 3 4 5 6 7
% % % % % % % % % %
-----------------------------------------------------------------------------AUTHOR: Dhaval Shah LAST UPDATE: August 4, 2000 REFERENCE: Problem 2-110 on pg. 91 in Engineering Mechanics Statics by Soutas.
PROBLEM OVERVIEW: This problem deals with computing the tension in the 4 cords that hold the lamp hanging vertically along the "z axis" from the ceiling as a function of the connection point with respect to the ceiling.
% CONCEPT KEYWORDS: Free-body diagrams, Equilibrium equations % % VARIABLE DICTIONARY: % Variable Remarks % -------------% O Point O is the origin % Ax,Ay,Az The x, y, z coordinates of point A % Bx,By,Bz The x, y, z coordinates of point B % Cx,Cy,Cz They are the x, y, z coordinates of point C % T1,T2,T3,T4 Forces in cords AC,OC,BC,CL respectively % Lzac,Lxac,Lyac Direction cosines of cord AC % Lzoc,Lxoc,Lyoc Direction cosines of cord OC % Lzbc,Lxbc,Lybc Direction cosines of cord BC % Lac Length of cord AC % Loc Length of cord OC % Lbc Length of cord BC % W Weight of lamp
Status -----Given Given Given Given To be computed To be computed To be computed To be computed To be computed To be computed To be computed Given
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% % %
HInc T1Max, T2Max T3Max
Height increment with Cz Max. force in cord T1, T2 and T3
To be defined To be computed
% --------------------------------------------------------------------------------% Set default values W = 25; HInc = 1; Ax = 0; Ay = 4; Az = 0; Bx = 4; By = 0; Bz = 0; Cx = 2; Cy = 1; Cz = 5; Ox = 0; Oy = 0; Oz = 0; % ============================ part (a) =========================================== % Calculate the length of the cords Lac = sqrt((Cx-Ax)^2 + (Cy-Ay)^2 + (Cz-Az)^2); Lbc = sqrt((Cx-Bx)^2 + (Cy-By)^2 + (Cz-Bz)^2); Loc = sqrt((Cx-Ox)^2 + (Cy-Oy)^2 + (Cz-Oz)^2); % Calculate the direction cosines of cords Lzac = (Cz-Az)/Lac; Lxac = (Cx-Ax)/Lac; Lyac = (Cy-Ay)/Lac; Lzbc = (Cz-Bz)/Lbc; Lxbc = (Cx-Bx)/Lbc; Lybc = (Cy-By)/Lbc; Lzoc = (Cz-Oz)/Loc; Lxoc = (Cx-Ox)/Loc; Lyoc = (Cy-Oy)/Loc; % % % % Form the T1lxac + T1lyac + T1lzac + linear T2lxoc T2lyoc T2lzoc equations for the 3 unknowns T1, T2, T3 + T3lxbc = 0. + T3lybc = 0. + T3lzbc = 25.
% Solving the above equations using [A][x]=[B] A = [Lxac Lxoc Lxbc; Lyac Lyoc Lybc; Lzac Lzoc Lzbc]; B = [0;0;W]; x = inv(A)*B; % Display results fprintf ('The force in the cord AC is fprintf ('The force in the cord OC is fprintf ('The force in the cord BC is % Calculate force in chord CL (T4) T4 = W; fprintf('The force in the cord CL is
T1 = %g lb\n', x(1)); T2 = %g lb\n', x(2)); T3 = %g lb\n', x(3));
T4 = %g lb\n', T4);
%=========================part (b) ============================================== % Now loop through all possible values of Beta I = 0; T1Max = 0; T2Max = 0; T3Max = 0; for Height = 1.0:HInc:10 I = I + 1; % We define the variable for the z coordinate of point C as a vector CzV CzV(I) = Height; Lac = sqrt((Cx-Ax)^2 + (Cy-Ay)^2 + (CzV(I)-Az)^2); Lbc = sqrt((Cx-Bx)^2 + (Cy-By)^2 + (CzV(I)-Bz)^2); Loc = sqrt((Cx-Ox)^2 + (Cy-Oy)^2 + (CzV(I)-Oz)^2); % Calculate the direction cosines of Lzac = (CzV(I)-Az)/Lac; Lxac = Lzbc = (CzV(I)-Bz)/Lbc; Lxbc = Lzoc = (CzV(I)-Oz)/Loc; Lxoc = cords (Cx-Ax)/Lac; Lyac = (Cy-Ay)/Lac; (Cx-Bx)/Lbc; Lybc = (Cy-By)/Lbc; (Cx-Ox)/Loc; Lyoc = (Cy-Oy)/Loc;
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A = [Lxac Lxoc Lxbc; Lyac Lyoc Lybc; Lzac Lzoc Lzbc]; B = [0;0;W]; X = inv(A)*B; % The tension in the cords are now stored in the vector for every values of Cz % in the vector CzV T1V(I) = X(1); T2V(I) = X(2); T3V(I) = X(3); if (T1V(I) > T1Max) T1Max = T1V(I); end; if (T2V(I) > T2Max) T2Max = T2V(I); end; if (T3V(I) > T3Max) T3Max = T3V(I); end; end fprintf ('The max. force in cord AC is T1 = %g lb\n', T1Max); fprintf ('The max. force in cord OC is T2 = %g lb\n', T2Max); fprintf ('The max. force in cord BC is T3 = %g lb\n', T3Max); % Plot the forces in the cords T1, T2, T3 for different heights at which the % lamp hangs. plot (CzV,T1V,'r'), hold on, text (CzV(2),T1V(2),'T1'), plot (CzV,T2V,'b'), hold on, text (CzV(2),T2V(2),'T2'), plot (CzV,T3V,'g'), text (CzV(2),T3V(2),'T3'), hold on, grid on xlabel ('Cz (ft)') ylabel ('Forces (lb)') % % % % % ============================================================================== FURTHER EXERCISES (1) What conclusion(s) can you draw from the graph? (2) Does the change in length of one cord affect the forces in all the cords? (3) When is the system in unstable equilibrium? Is this physically possible?
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2.2 Rigid Bodies and Equivalent Force Systems Three problems are solved in this section. This Guides Problem ID Problem 2.2.1 Problem 2.2.2 Problem 2.2.3 Corresponding Problem from ECE210 Text Problem 3.24 on page 130 Problem 3.43 on page 133 Problem 3.76 on page 166 Problem Title Automobile towing bar Calculation of a torque Calculation of resultant force and moment
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Problem 2.2.1 Automobile towing bar Consider the automobile towing bar illustrated in Figure P3.24. A 4000-N force is applied to the trailer hitch as illustrated and causes the force to change through the angle theta as the lead car pulls on the bar AB. Calculate the moments about the bumper connection point B as a function of the angle . Calculate the value of Mb at = 0,45, and
90 .
MATLAB File % 1 2 3 4 5 6 7
% -----------------------------------------------------------------------------
% % % % % % % % % % % % % % % % % % % % % % % %
AUTHOR: LAST UPDATE: REFERENCE:
Dhaval Shah August 4, 2000 Problem 3-24 on pg. 130 in Engineering Mechanics Statics by Soutas.
PROBLEM OVERVIEW: This problem deals with finding out the moment caused by a 4000 N force applied to the trailer hitch as a function of the angle of application, Theta, of the 4000 N force. CONCEPT KEYWORDS: Rigid Bodies, Equivalent Force Systems. VARIABLE DICTIONARY: Variable Remarks -------------P Force of 4000N applied at an angle Theta Px Component of force P along X axis Py Component of force P along X axis C Point of application of force P B Point about which the moment of force P is required M Moment of Force P about point B Lbc Distance between points B and C Alpha Angle that Lbc makes with the Y axis Theta Angle at which the force is applied
Status -----Given To be computed To be computed Given Given To be computed Given Given
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% with respect to the X axis Given % Lx Lever arm of the component of force P % along X axis To be computed % Ly Lever arm of the component of force P % along Y axis To be computed % AInc Angular increment to be used with angle Beta To be defined % -----------------------------------------------------------------------------------% Set default values P = 4000; Alpha = 60; Lbc = 1; AInc = 1; AngleToRadians = pi/180; Theta = 45; %=============================part1========================================== % Given ThetaR = Theta*AngleToRadians; Px = P*cos(ThetaR); Py = P*sin(ThetaR); % Calculate the lever arm of the force P components AlphaR = Alpha*AngleToRadians; Lx = Lbc * sin(AlphaR); Ly = Lbc * cos(AlphaR); % Calculate the moment about point B at theta = 45 degrees M = Px * Ly - Py * Lx; fprintf ('The moment about point B at theta 45 degrees is %g N-m\n',M); %====================part 2================================================= % Now loop through all possible values of Theta I = 0; Index0=1; Index45=1; Index90=1; for Angle = 0:AInc:90 % ThetaV is a vector holding values from 0 to 90 degrees, the MV is a % moment vector of the same size as Theta and so are the components % Px and Py of the force P. I = I + 1; ThetaV(I) = Angle; Px = P*cos(ThetaV(I) * AngleToRadians); Py = P*sin(ThetaV(I) * AngleToRadians); MV(I) = Px * Ly - Py * Lx; if (Angle == 0) Index0 = I; end; if (Angle == 45) Index45 = I; end; if (Angle == 90) Index90 = I; end; end % Plot the moment about point B for different values of theta plot (ThetaV,MV) text(ThetaV(Index0),MV(Index0),'M@0'), text (ThetaV(Index90),MV(Index90),'M@90'), text (ThetaV(Index45),MV(Index45),'M@45'), grid on xlabel ('Theta (degrees)'); ylabel ('Moment (N-m)'); % ============================================================================== % FURTHER EXERCISES
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% (1) What would be the forces acting at point A and B if the force P % acts at Theta = 0 degrees? % (2) At what angle should the force be placed with the positive X % axis such that the moment about point A is 0?
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Problem 2.2.2 Calculation of a torque Given that
$ $ $ $ M o = 20i + 10 $ + 5k and F = 10i 10 $ 5k kN, where M o . F = 0 , calculate the value of the moment arm r that j j
will produce the given moment by application of the given force. MATLAB File % % % % % % % % % % % % % % % % % % % % % % % 1 2 3 4 5 6 7 --------------------------------------------------------------------------AUTHOR: Dhaval Shah LAST UPDATE: August 4, 2000 REFERENCE: Problem 3-42 on pg. 133 in Engineering Mechanics Statics by Soutas. PROBLEM OVERVIEW: This problem deals with computing a moment vector 'r' required to produce a known moment by a known force. CONCEPT KEYWORDS: Rigid Bodies, Varignon's Theorem VARIABLE DICTIONARY: Variable Remarks Status ------------------Mx,My,Mz Moment components Given Fx,Fy,Fz Force components Given Rx,Ry,Rz Components of relative position vector To be computed ---------------------------------------------------------------------------Set default values Define M = (Mx)i + Define F = (Fx)i + M(1) = 20; M(2) = F(1) = 10; F(2) =
(My)j + (Mz)k (Fy)j + (Fz)k 10; M(3) = 5; -10; F(3) = -20;
% Let R = (Rx)i + (Ry)j + (Rz)k % Varignon's theorem states M = R X F % Using the process discussed in pages 124-126, % F X M % R = ----% F . F % Numerator = cross (F, M); Denominator = Dot (F, F); R = Numerator/Denominator; % Display results fprintf ('The position vector R = (%g)i + (%g)j + (%g)k\n',... R(1),R(2),R(3)); % % % % % % % ============================================================================== FURTHER EXERCISES (1) What magnitude of force is required to produce a moment vector of M = 20i - 30k lb.ft for a position vector r = 3i + 2k. (2) Given a force vector F = 2i + 3j, find out what would be the force vector along a position vector r = 8j -3k.
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Problem 2.2.3 Calculation of a resultant force and moment Four forces act on a cross sectional piece of a truck frame (see Figure P3.76). Calculate the resultant force and moment at point A, and find a point B somewhere along the X-axis where the resultant alone will represent the effect of all the four forces. Here, let F = 10 kN , F2 = 10 kN , F3 = 3kN , and 1 F4 = 4 kN .
MATLAB File % 1 2 3 4 5 6 7
% ---------------------------------------------------------------------------
% AUTHOR:
Dhaval Shah
% LAST UPDATE:
August 4, 2000
% % % % % % % % % % % % % % % % %
REFERENCE: Problem 3-76 on pg. 166 in Engineering Mechanics Statics by Soutas. PROBLEM OVERVIEW: This problem deals with computing a resultant force and moment at point A for a given force system. The next part of the problem is to find a point B on the x axis where the resultant alone will represent all the forces.
CONCEPT KEYWORDS: Rigid Bodies: Varignon's Theorem VARIABLE DICTIONARY: Variable Remarks -------------O Point O is the origin A() The x, y coordinates of point A B() The x, y coordinates of point B
Status -----Given Given To be computed
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% % % % % % % % %
C() D() E() F() M() Rda() Rea() Rca() Roa()
The x, y coordinates of point C (F2) The x, y coordinates of point D (F4) The x, y coordinates of point E (F3) Resultant Force vector about point A Moment vector about point A Relative position vector AD Relative position vector EA Relative position vector CA Relative position vector OA
Given Given Given Given Given Intermediate Intermediate Intermediate Intermediate
qty. qty. qty. qty.
% ---------------------------------------------------------------------------% (X, Y, Z) Coordinates of A(1) = 0.3; A(2) = 0.3; C(1) = 0.6; C(2) = 0; D(1) = 0; D(2) = 0.6; E(1) = 0.6; E(2) = 0.6; O(1) = 0; O(2) = 0; % F1, F2, F3, F4 as vectors F1(1) F2(1) F3(1) F4(1) = = = = 0; F1(2) = 10; F1(3) = 0; 0; F2(2) = 10; F2(3) = 0; -3; F3(2) = 0; F3(3) = 0; 4; F4(2) = 0; F4(3) = 0; points A(3) = C(3) = D(3) = E(3) = O(3) = A, D, E, F, O 0; 0; 0; 0; 0;
% Define Rd/a, Re/a, Rc/a, Ro/a D = [D(1); D(2); D(3)]; E = [E(1); E(2); E(3)]; C = [C(1); C(2); C(3)]; A = [A(1); A(2); A(3)]; O = [O(1); O(2); O(3)]; Rda Rea Rca Roa = = = = D E C O A; A; A; A;
% ================ calculation of moment================================= % Moment of the above force vectors about point A involves cross-products % M = Rd/a X F4 + Re/a X F3 + Rc/a X F2 + Ro/a X F1 M = cross (Rda, F4) + cross (Rea, F3) + cross (Rca, F2) + ... cross (Roa, F1); fprintf ('Vector M = [(%g)i + (%g)j + (%g)k] kN-m\n', M(1), M(2), M(3)); %================= calculation of resultant force F ======================== F = F1 + F2 + F3 + F4; fprintf ('Vector F = [(%g)i + (%g)j + (%g)k] kN\n', F(1), F(2), F(3)); %============================ part b ====================================== % Given that point B lies on the X axis. B(2) = 0; B(3) = 0; BINC = 0.01; TOL = 0.1; % We can find Bx, i.e. B(1) by computing the moment about B using % M = Rd/b X F4 + Re/b X F3 + Rc/b X F2 + Ro/b X F1 % and then setting the z component of M to zero. This will give us an % equation with Bx as the unknown. Solving ...
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for BX = 0:BINC:0.6 B(1) = BX; Rdb = D - B; Reb = E - B; Rcb = C - B; Rob = O - B; M = cross (Rdb, F4) + cross (Reb, F3) + cross (Rcb, F2) + ... cross (Rob, F1); if (abs(M(3)) < TOL) fprintf ('The coordinates of point B are (%g, %g) m\n', B(1), B(2)); break; end end % % % % % % ============================================================================== FURTHER EXERCISES (1) Calculate the resultant force and moment about point O. (2) Compute a position vector from 'O' to 'A'. Use the resultant force vector obtained above to compute a force vector along the given position vector, Ro/a.
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2.3 Distributed Forces: Centroids and Center of Gravity Three problems are solved in this section. This Guides Problem ID Problem 2.3.1 Problem 2.3.2 Problem 2.3.3 Corresponding Problem from ECE210 Text Problem 4.15 on page 190 Problem 4.51 on page 205 Problem 4.60 on page 209 Problem Title Centroid of a quadrant of an ellipse Centroid of a jetway Equivalent force in an automobile
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Problem 2.3.1 Centroid of a quadrant of ellipse Calculate the centroid of the area found by the quadrant of an ellipse (see Figure P4.15). The equation of an ellipse is
FG x IJ + FG y IJ H aK H bK
2
=1
%0 1 2 3 4 5 6 7 % --------------------------------------------------------------------------% AUTHOR: Dhaval Shah % LAST UPDATE: August 4, 2000 % % REFERENCE: Problem 4-15 on pg. 190 in Engineering Mechanics Statics by Soutas. % % PROBLEM OVERVIEW: This problem deals with computing the centroid of the area % formed by a quadrant of an ellipse whose equation is: % (x/a)^2 + (y/b)^2 = 1.
% CONCEPT KEYWORDS: Centroids of Areas by First Moment. % % VARIABLE DICTIONARY: % Variable Remarks % -------------% O Point O is the origin % a length on the major axis (X) % b length on the minor axis (Y) % A Area of the ellipse % Xc X coord. of centroid of the ellipse % Yc Y coord. of centroid of the ellipse
Status -----Given Given Given To be computed To be computed To be computed
% ----------------------------------------------------------------------------
% % % % %
To calculate the centroid of the ellipse, we first need to calculate the area(A) as follows. Consider a vertical strip of infinitesimally small thickness 'dx' at any 'x' having height of 'y'. Let the area of this strip be dA = y.dx. As this strip moves along the x axis from '0' to 'a', we need to integrate the above equation dA from '0' to 'a'.
% Defining the symbols to be used for integration. syms a b theta % We now change from the cartesian coordinate system to the polar coordinates x = a*cos(theta); y = b*sin(theta); % Taking the derivative of the above equations to obtain the area A dx = diff(x,theta);
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dy = diff(y,theta); % A = integral (xdy) dA = x*dy; A = int(dA,0,pi/2); % To obtain the centroid of the given ellipse: Yc = [integral (ydA)]/A % Xc = [integral (xdA1)]/A1 dA1 = y*dx; A1 = int(dA1,0,pi/2); cgy = y*dA; cgx = x*dA1; Yc = int(cgy,0,pi/2)/A; Xc = int(cgx,0,pi/2)/A1; % Display the results fprintf('The Area formed by the quadrant of the ellipse is: ');pretty(A) fprintf ('The X coordinate of the centroid is: '); pretty(Xc) fprintf ('The Y coordinate of the centroid is: '); pretty(Yc)
% % % % % %
FURTHER EXERCISES (1) How would you modify the above program to obtain the area, and the centroid of the semi ellipse. (2) If we form a rectangle of dimension (a X b), then write a code to calculate the area obtaind by deducting the quadrant of the ellipse from the rectangle. (3) Solve the above problem for a special case when a = b.
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Problem 2.3.2 Centroid of a jetway The jetway leading to an aircraft is a telescopic device formed by a series of interconnected rectangular parallelepiped. The designer of this device needs to know where the center of gravity is at each position as the jetway telescopes out along the X-axis. The length of each rectangular parallelepiped is 20 ft , and the walls are 3in thick. The first section is
20 ft 10 ft 10 ft . Using the centreline coordinate system

illustrated in Figure P4.51, compute the position of the centroid as the section extends from zero to 15 ft past the edge of the first section.
MATLAB File % % % % % % % % % % % --------------------------------------------------------------------------AUTHOR: Dhaval Shah LAST UPDATE: August 4, 2000 REFERENCE: Problem 4-51 on pg. 205 in Engineering Mechanics Statics by Soutas. PROBLEM OVERVIEW: To obtain the centre of gravity of the jetway leading to an aircraft at each position as it telescopes out along the x-axis. Given the length of each rectangular parallelepiped is 20ft.and the walls are 3in. thick. The first section is 20ft X 10ft X 10ft
% CONCEPT KEYWORDS: Centroids, Composite bodies. % % VARIABLE DICTIONARY: % Variable Remarks Status % ------------------% L1, B1, H1 Length, breadth, height of the % first section Given % T Wall Thickness Given % B2, H2 Breadth and height of telescopic % section To be computed % Lt Length of the telescopic section Given % V1 Volume of first section To be computed % V2 Volume of telescoping section To be computed % X1, Y1, Z1 X,Y,Z coordinates of the centroid of % the first section Given % X2, Y2, Z2 X,Y,Z coordinates of the centroid of % telescoping section To be computed % X, Y, Z X, Y, Z coordinates of the centroid % jetway To be computed % ----------------------------------------------------------------------------
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% Set default values: Units feet. L1 = 20; B1 = 10; H1 = 10; T = 3/12; AInc = 1; % calculate the volume of the first section: V1 = V1outer - V1inner V1outer = L1*B1*H1; V1inner = L1*(B1-T)*(H1-T); V1 = V1outer - V1inner; % Define the X, Y, Z centroid of the first section X1 = L1/2; Y1 = 0; Z1 = 0; % Compute the breadth and the length of the telescopic section. B2 = B1 - T; H2 = H1 - T; % Now run through the loop for different values of the length of the jetway. I = 0; for Lt = 0:AInc:15 I = I + 1; % Volume of the (telescopic) second section L2 = Lt; V2outer = L2*B2*H2; V2inner = L2*(B2-T)*(H2-T); V2 = V2outer - V2inner; X2 = 20 + (Lt/2); % Compute the X, Y, Z coordinate of the centroid of the entire jetway X(I) = (V1*X1 + V2*X2)/ (V1 + V2); Lj(I) = Lt; end % Plot the X coordinate of the centroid of the entire section against the % different values of the lengths of the jetway. plot (Lj, X) grid Xlabel ('Length (ft)') Ylabel ('Centroid (X) (ft)') % % % % % % % ============================================================================== FURTHER EXERCISES (1) Would the centroid of the entire section change, if the breadth and the height of the parallelopiped is changed? (2) If one of the walls of the parallelopiped is kept open such that the jetway is is open on one of its sides, what would be the new centroid of the entire section for Lj = 10ft?
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Problem 2.3.3 Equivalent force in an automobile A side-impact air bag for an automobile may be modeled as a distributed load by equivalent force and point of action for this system. Use Figure P4-60.
w( x ) = 100(1 + cos( x )) lb ft . Compute the
MATLAB File % ---------------------------------------------------------------------------
% AUTHOR:
Dhaval Shah
% LAST UPDATE:
August 4, 2000
% % % % % % % % % % % % % % % %
REFERENCE: Problem 4-60 on pg. 209 in Engineering Mechanics Statics by Soutas. PROBLEM OVERVIEW: To compute the equivalent force and its point of action for a system subjected to a distributed load by w(x) = 100(1 + x*cos(x)) CONCEPT KEYWORDS: Centroid of Area, First Moment. VARIABLE DICTIONARY: Variable Remarks Status ------------------W Distributed load Given A Area under the load curve To be computed Xc X coord. of centroid of the distributed load To be computed ----------------------------------------------------------------------------
% Set absolute values:
26
a = 2; wc = 100; % % % % % To calculate the centroid of the distributed load we need to calculate the area, A. Consider a horizontal strip of infinitesimally small thickness 'dx' at any 'x' having length of 'w(x)'. Let the area of this strip be dA = dA = w(x)dx. As this strip moves along the x axis, we need to integrate with the limits of integration from '0' to 'a'.
% Numerically integrate using Trapezoidal Rule A = 0; xinc = 0.01; for x = 0:xinc:a; x1 = x + xinc; A = A + 0.5 * xinc * wc * ((1 + x*cos(x)) + (1 + x1*cos(x1))); end % Display the results. fprintf ('The equivalent force in %g lb\n', A); % To obtain the centroid of the given load, Xc = [integral (xdA)]/A Xc = 0; xinc = 0.01; for x = 0:xinc:a; x1 = x + xinc; Xc = Xc + 0.5 * xinc * wc * (x*(1 + x*cos(x)) + ... x1*(1 + x1*cos(x1))); end Xc = Xc/A; % Display the results fprintf ('The X coordinate of the centroid is %g ft\n', Xc); % ============================================================================== % FURTHER EXERCISES % (1) What would be the desirable features of the distributed load?
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2.4 Equilibrium of Rigid Bodies Four problems are solved in this section. This Guides Problem ID Problem 2.4.1 Problem 2.4.2 Problem 2.4.3 Problem 2.4.4 Corresponding Problem from ECE210 Text Problem 5.31 on page 250 Problem 5.35 on page 252 Problem 5.73 on page 278 Problem 5.80 on page 281 Problem Title Overhanging roof Tow truck mechanism Folding platform Power-line pole
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Problem 2.4.1 Overhanging roof An overhanging roof for an outdoor caf consists of a beam 5 m long of mass 100 kg (See Figure P5.31). Consider designing the support system. That is, choose where to attach the cable (pick l ) so that the tension in the cable and the reaction force at the pin are the smallest. Compute values of the reaction forces for l = 0.5,115,....,5. ,.
MATLAB File % % % % % % % % % % % % % % % % % % % % % % % % % % --------------------------------------------------------------------------AUTHOR: Dhaval Shah LAST UPDATE: August 4, 2000 REFERENCE: Problem 5-31 on pg. 250 in Engineering Mechanics Statics by Soutas. PROBLEM OVERVIEW: This problem deals with finding out an appropriate the beam of mass 100kg to attach the cable so that in the cable and the reaction force at the pin are The cable is connected between point A on the wall on the beam. CONCEPT KEYWORDS: Equilibrium, Rigid bodies. VARIABLE DICTIONARY: Variable Remarks -------------T Force in the cable L Length at which the cable needs to be attached Theta Angle between horizontal and the cable h Height between the pin connection on the wall and point A (where cable is anchored). M Mass of the beam AInc Increment to be used with length l TMin Min. force in cable MinStress Min. stress in cable length on the tension the smallest. and point B
Status -----To be computed To be computed Given Given Given To be defined To be computed To be computed
% ---------------------------------------------------------------------------% Set default values h = 1; M = 100; AInc = 0.5; g = 9.81; W = M * g; % Weight of the beam. % ===== Part 1 of the problem ================================================
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% Resolving the tension in the cable into its 2 components. % Th = T*cos(ThetaR); % Tv = T*sin(ThetaR); % Taking moments about the hinge to obtain the value of Tv: % Tv X L = M X 2.5 % Tv = 2.5M/L % Now using the equilibrium equations along X and Y direction: J = 1; % array increment for I = 0.5:AInc:5 % Length 'l' varying from 0.5 to 5 and stored in an array L L(J) = I; ThetaV(J) = atan(h/L(J)); Tv(J) = 2.5*W/(L(J)); % Vertical component of the tension Rv(J) = W - Tv(J); % Vertical component of reaction % Compute the tension in the cable T(J) = Tv(J) / sin(ThetaV(J)); % Tension in the cable. Th(J) = T(J)*cos(ThetaV(J)); % Hor. component of the tension Rh(J) = Th(J); % Horizontal component of raction R(J) = sqrt((Rv(J))^2 + (Rh(J))^2); % Reaction at the hinge J = J + 1; end % Now we will plot the force in cable 'T' and reaction 'R' versus the length 'L' plot (L, T),hold on, plot(L, R), text (L(2),T(2),'Tension'), text(L(5),R(5),'Reaction') grid, xlabel ('Length (m)') ylabel ('T (N)') % Obtain the minimum values of the tension and the reaction forces TMin = min(T); RMin = min(R); for I = 1:1:J-1 if T(I) == TMin LMin = L(I); end if R(I) == RMin LRMin = L(I); end end % Display the result fprintf ('The minimum tension in the cable is Tmin=') fprintf ('%g N at %g m from the pin\n', TMin, LMin); fprintf ('The minimum reaction in the cable is Rmin=') fprintf ('%g N at %g m from the pin\n', RMin, LRMin); % % % % % % % ============================================================================== FURTHER EXERCISES (1) Compute the minimum tension in the cable by varying the height 'h' and keeping the length 'L' at 'LMin' obtained above. (2) If the beam cross section varies such that for first 2.5m from the hinge, the cross-sectional area is twice as much as the rest of the beam, calculate the minimum tension in the beam for M = 100 kg, L = 4m.
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Problem 2.4.2 Tow truck mechanism Consider the tow truck mechanism of Figure P5.35, and calculate the value of the reaction forces and the tension in the cable for values of from 0 to 60 in increments of 5 . Incrementing in this manner corresponds to changing the position of the motor used to hoist an object (usually an automobile) relative to the truck frame. Such information is useful in the design of the hoist system. Is there a preferred position , where the magnitude of the reaction force at A is a minimum?

MATLAB File % % % % % % % % % % % % % % % % % % % % % % % % % % % --------------------------------------------------------------------------AUTHOR: Dhaval Shah LAST UPDATE: August 4, 2000 REFERENCE: Problem 5-35 on pg. 251 in Engineering Mechanics Statics by Soutas. PROBLEM OVERVIEW: This problem deals with computing the value of the reaction forces and the tension in the cable for different values of 'Theta' from 0 to 60 degrees in increments of 5 degrees. Calculate the value of 'Theta' at which the reaction is minimum. CONCEPT KEYWORDS: Equilibrium, Rigid bodies. VARIABLE DICTIONARY: Variable Remarks -------------T Force in the supporting cable Tac Force in the hoist cable Lac Length at bar AC Theta Angle between hoist cable and the lift bar AC Beta Angle between supporting cable and the lift bar AC Alpha Angle between lift bar AC and horizontal Rp, Rt Reaction components at A AInc Increment to be used with angle Theta TMin Min. force in cable
Status -----To be computed To be computed Given Given Given Given To be computed To be defined To be computed
% ---------------------------------------------------------------------------% Set default values
31
W = 1500; AInc = 5; Lac = 8; Beta = 20; Alpha = 60; AngleToRadians = pi/180; BetaR = Beta * AngleToRadians; AlphaR = Alpha * AngleToRadians; % ===== Part 1 of the problem ================================================ % Force in the hoist cable is equal to the supported weight Tac = W; % Resolving the tension in the cable into its 2 components. % Tacp is the component perpendicular to the lift bar and % Tact is along the bar. % Tt = Tac*cos(Theta); % Tp = Tac*sin(Theta); % Taking moments about point A, we can obtain T. % T*sin(Beta) * (2/3)Lac = Lac*W*cos(Alpha) - Lac*Tp (eqn. (A)) % Now using the equilibrium equations along X and Y direction: % Angle Theta is varying from 5 to 60 and is stored in array ThetaV. J = 0; % array increment for I = 0:AInc:60 J = J + 1; ThetaX = I; ThetaR(J) = ThetaX * AngleToRadians; Tacp = Tac*sin(ThetaR(J)); Tact = Tac*cos(ThetaR(J)); % Using the equation(A) as shown above, we can compute the value of T TX = (W*cos(AlphaR)*Lac - Tacp*Lac)/(sin(BetaR)*(2/3)*Lac); % Ensure that cable is always in tension if (TX < 0) J = J-1; break; end; T(J) = TX; ThetaV(J) = ThetaX; % Compute the two components of T (along and perpendicular to the bar) Tt = T(J)* cos(BetaR); Tp = T(J)* sin(BetaR); % Compute the two components of reaction R at A Rp(J) = W*cos(AlphaR) - Tacp - Tp; Rt(J) = W*sin(AlphaR) + Tact + Tt; % Compute the resultant R(J) = sqrt((Rp(J))^2 + (Rt(J))^2); end % Now we will plot the force in cable 'T' and reaction 'R' versus the angle 'Theta' plot (ThetaV, T),hold on, plot(ThetaV, R), text (ThetaV(2),T(2),'Tension'), text(ThetaV(5),R(5),'Reaction'), grid xlabel ('Theta (degrees)') ylabel ('T (lb)') TMin = min(T); RMin = min(R); % Compute the angles at which the reaction and the tension in the cable are minimum
32
for I = 1:1:J if T(I) == TMin AngleMinT = ThetaV(I); end if R(I) == RMin AngleMinR = ThetaV(I); end end % Display the result fprintf ('The minimum reaction at point A is Rmin=') fprintf ('%g N when Theta = %g degrees\n', RMin, AngleMinR); fprintf ('The minimum force in the cable is Tmin='); fprintf ('%g N when Theta=%g degrees.\n', TMin, AngleMinT); % % % % % % % ============================================================================== FURTHER EXERCISES (1) Compute the minimum tension in the cable by varying the length of lift bar Ac from 2ft to 10ft. (2) If the supporting cable was connected at point C at one end and maintaining its other end at hinge, compute the maximum tension in the cable for different values 'Theta' varying from 20 to 60 degrees.
33
Problem 2.4.3 Folding platform A folding platform is used to hold parts, as well as to conserve floor space when not in use. The platform is supported by a hinge at C, which is assumed to support negligible moments, a leg at B, modeled as a frictionless support, and a removable pin at A, modeled as a thrustless bearing, again with negligible moments. If the platform is loaded as illustrated in Figure P5.73, compute the reaction forces at A, B, and C. Ignore the thickness of the platform.
MATLAB File % ---------------------------------------------------------------------------
% AUTHOR:
Dhaval Shah
% % % % % % % % % % % % % % % %
LAST UPDATE:
August 4, 2000
REFERENCE: Problem 5-73 on pg. 278 in Engineering Mechanics Statics by Soutas. PROBLEM OVERVIEW: This problem deals with computing the value for the reaction forces at points A, B, and C when a vertical force P is applied at point D. CONCEPT KEYWORDS: Equilibrium, Rigid bodies. VARIABLE DICTIONARY: Variable Remarks ---------------P Applied vertical force (at D) O Point O is the origin A,B,C,D X,Y,Z coordinates of points A,B,C,D
Status -----Given Given Given
34
% X Reactions at A,B,C To be computed %================================================================================== % Set default values P(1) = 0; P(2) = -3000; A(1) = 0; A(2) = 0; B(1) = 1; B(2) = 0; C(1) = 0.5; C(2) = 0; D(1) = 0.5; D(2) = 0; Ra(1) = 0; Ra(2) = 1; Rb(1) = 0; Rb(2) = 1; Rc(1) = 1; Rc(2) = 1;
P(3) = 0; A(3) = 1.2; B(3) = 1.2; C(3) = 0; D(3) = 0.4; Ra(3) = 1; Rb(3) = 0; Rc(3) = 1;
% There are six unknowns (Ray, Raz, Rby, Rcx, Rcy, Rcz) % and six equations of equilibrium that we can write as % S X = Q for i=1:1:6 Q(i) = 0; for j=1:1:6 S(i,j) = 0; end; end; % Force equilibrium equations S(1,4) = 1; S(2,1) = 1; S(2,3) = 1; S(2,5) = 1; S(3,2) = 1; S(3,6) = 1; % Take moments about the hinge C S(4,1) = -1.2; S(4,3) = -1.2; S(5,2) = 0.5; S(6,1) = -0.5; S(6,3) = 0.5; Rdc = D - C; M = cross (Rdc, P); % Generate the right-hand side vector Q = [-P(1); -P(2); -P(3); -M(1); -M(2); -M(3)]; % Solve X = inv(S)*Q; % Display the results fprintf ('The (y,z) reactions at point A are '); fprintf ('%g N and %g N\n', X(1), X(2)); fprintf ('The (y) reaction at point B is '); fprintf ('%g N\n', X(3)); fprintf ('The (x,y,z) reactions at point C are '); fprintf ('%g N, %g N and %g N\n', X(4), X(5), X(6));
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Problem 2.4.4 Power-line pole In Figure P5.80, power-line pole is held in place by a ball-and-socket connection at A, two cables at C and B, and a rod at D. Ignoring the mass of the pole, compute the reaction forces at A, B, C, and D for the load indicated.
MATLAB File %0 1 2 3 4 5 6 7 % -----------------------------------------------------------------------------% AUTHOR: Dhaval Shah % LAST UPDATE: August 4, 2000 % % REFERENCE: Problem 5-80 on pg. 281 in Engineering Mechanics Statics by Soutas. % % PROBLEM OVERVIEW: This problem deals with computing the tensions T1, T2, R % in order to compute the reaction forces at A, D, C and B. % CONCEPT KEYWORDS: Free-body diagrams, Equilibrium % % VARIABLE DICTIONARY: % Variable Remarks % -------------% O Point O is the origin % Ax,Ay,Az The x, y, z coordinates of point % Bx,By,Bz The x, y, z coordinates of point % Cx,Cy,Cz The x, y, z coordinates of point % Dx,Dy,Dz The x, y, z coordinates of point % Ex,Ey,Ez The x, y, z coordinates of point % Fx,Fy,Fz The x, y, z coordinates of point equations
A B C D E F
Status -----Given Given Given Given Given Given Given
36
% % % % % % % % % % % %
Gx,Gy,Gz T1,T2,R Lzcg,Lxcg,Lycg Lzdf,Lxdf,Lydf Lzbe,Lxbe,Lybe Lgc Ldf Lbe F Rxa Rya Rza
The x, y, z coordinates of point G Forces in cords DC,BE,DF respectively Direction cosines of chord GC Direction cosines of chord DF Direction cosines of chord BE Length of chord GC Length of chord DF Length of chord BE Force applied Reaction at point A along X axis Reaction at point A along Y axis Reaction at point A along Z axis
Given To be To be To be To be To be To be To be Given To be To be To be
computed computed computed computed computed computed computed computed computed computed
% --------------------------------------------------------------------------------% Set default values FFx = -30; FFy =0; FFz = 0; F = FFx; Ax = 0; Ay = 0; Az = 0; Bx = 0; By = 1; Bz = 10; Cx = 0; Cy = -1; Cz = 10; Dx = 0; Dy = 0; Dz = 7; Ex = 3; Ey = 3; Ez = 0; Fx = -2; Fy = 2; Fz = 0; Gx = 3; Gy = 0; Gz = 0; % ============================ part % Calculate the length of the cords Lgc = sqrt((Cx-Gx)^2 + (Cy-Gy)^2 Lbe = sqrt((Ex-Bx)^2 + (Ey-By)^2 Ldf = sqrt((Dx-Fx)^2 + (Dy-Fy)^2 (a) =========================================== + (Cz-Gz)^2); + (Ez-Bz)^2); + (Dz-Fz)^2);
% Calculate the direction cosines of cords Lzcg = (-Cz+Gz)/Lgc; Lxcg = (-Cx+Gx)/Lgc; Lycg Lzbe = (Ez-Bz)/Lbe; Lxbe = (Ex-Bx)/Lbe; Lybe = Lzdf = (Dz-Fz)/Ldf; Lxdf = (Dx-Fx)/Ldf; Lydf = % Form the equilibrium equations. % T1V = T1((Lxcg)i + (Lycg)j + (Lzcg)k)) % T2V = T2((Lxbe)i + (Lybe)j + (Lzbe)k)) % RV = R((Lxfd)i + (Lyfd)j + (Lzfd)k)) % MaV = Rc/a X T1V + Rb/a X T2V + Rd/a X R % Compute components of tension vectors T1V, T2V, T1x = Lxcg; T1y = Lycg; T1z = Lzcg; T2x = Lxbe; T2y = Lybe; T2z = Lzbe; Rx = Lxdf; Ry = Lydf; Rz =Lzdf;
= (-Cy+Gy)/Lgc; (Ey-By)/Lbe; (Dy-Fy)/Ldf;
R:
% Compute relative position vector Rcax = (Ax-Cx); Rcay = (Ay-Cy); Rcaz = (Az-Cz); Rbax = (Ax-Bx); Rbay = (Ay-By); Rbaz = (Az-Bz); Rdax = (Ax-Dx); Rday = (Ay-Dy); Rdaz = (Az-Dz); % Define arrays for all position vectors and tensions T1, T2, R Rca = [Rcax; Rcay; Rcaz]; Rba = [Rbax; Rbay; Rbaz]; Rda = [Rdax; Rday; Rdaz]; T1V = [T1x; T1y; T1z]; T2V = [T2x; T2y; T2z]; RV = [Rx; Ry; Rz]; % Compute components of MaV :M1 M1 = cross(Rca,T1V); M2 = cross(Rba,T2V);
37
M3 = cross(Rda,RV); % Compute the moments due to the given force F: Rx = 0; Ry = 0; Rz = 10; R = [Rx; Ry; Rz]; F = [Fx; Fy; Fz]; Mf = cross(R,F); % Solve the linear equations [A][x] = [B] % A = [ Ax Ay Az T1 T2 T3 ] a = [1 0 0 Lxcg Lxbe Lxdf]; b = [0 1 0 Lycg Lybe Lydf]; c = [0 0 1 Lzcg Lzbe Lzdf]; d = [0 0 0 M1(1) M2(1) M2(1)]; e = [0 0 0 M1(2) M2(2) M3(2)]; f = [0 0 0 M1(3) M2(3) M3(3)]; A = [d;e;f;a;b;c]; B = [-Mf(1);-Mf(2);-Mf(3);-FFx;0;0]; X = inv(A)*B; % Display results fprintf('The reaction at A in x direction is Xa = %g\n',X(1)); fprintf('The reaction at A in x direction is Ya = %g\n',X(2)); fprintf('The reaction at A in x direction is Za = %g\n',X(3)); % FURTHER EXERCISES % (1) Solve the above problem for F =50j + 20k. % (2) If the connection at A is not a ball and socket type and if % Ma = 25i + 45j + 50k for F = 60i + 30K, calculate the tension in the % cables T1, T2, R.
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2.5 Truss Analysis Five problems are solved in this section. This Guides Problem ID Problem 2.5.1 Problem 2.5.2 Problem 2.5.3 Problem 2.5.4 Problem 2.5.5 Corresponding Problem from ECE210 Text Problem 6.11 on page 301 Problem 6.20 on page 302 Problem 6.60 on page 316 Problem 6.85 on page 329 Problem 6.95 on page 333 Problem Title Cantilevered truss analysis Truss analysis of a joack support stand Space frames supporting windowwashing scaffold Lever system Plow mechanism
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Problem 2.5.1 Cantilevered truss analysis Consider the cantilevered truss as sketched in Figure P6.9, and calculate the forces in each member if a wind load of approximately 1000 N is added at joint D. That is, let L1 = 1000 N , L2 = 500 N , and L3 = 1000 N . State which members are in tension and which are in compression, and determine the reaction forces as well.
MATLAB File % % % % % % % % % % -----------------------------------------------------------------------------AUTHOR: Dhaval Shah LAST UPDATE: August 4, 2000 REFERENCE: Problem 6-11 on pg. 301 in Engineering Mechanics Statics by Soutas.
PROBLEM OVERVIEW: This problem deals with computing the internal forces in the members and the reactions in the truss subjected to a wind load of 1000KN at joint D. Given L2 = 500N and L1 = 1000N are the forces acting joints C and E respectively.
% CONCEPT KEYWORDS: Free-body diagrams, Equilibrium equations % % VARIABLE DICTIONARY: % Variable Remarks % -------------% L1,L2,L3 Forces applied at joints C, E, D % respectively % Lac,Lab,Lcd,Lce Lengths of different truss members % Fac,Fab,Fcd,Fce Forces in different truss members % Fbc,Fdb,Fde Forces in different truss members % Theta1 Angle between CE and DE % Theta2 Angle between AC and BC % Theta3 Angle between BC and BD % Rxa Reaction at point A along X axis % Rya Reaction at point A along Y axis % Rxb Reaction at point B along X axis % Ryb Reaction at point B along Y axis
Status -----To To To To To To To To To To To be be be be be be be be be be be computed computed computed computed computed computed computed computed computed computed computed
% --------------------------------------------------------------------------------% Set default values: L1 = 1000; L2 = 500; L3 = 1000;
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Lac = 1; Lce = 2; Lab = 1.5; Lcd = 1; % Compute the angles : Theta1 = atan(Lcd/Lce); Theta2 = atan(Lab/Lac); % Consider the equilibrium of joint E: Fed = L2/sin(Theta1); Fce = Fed*cos(Theta1); % Consider the equilibrium of joint D: Fdb = (Fed*cos(Theta1)+L3)/cos(Theta1); Fcd = Fdb*sin(Theta1) - Fed*sin(Theta1); % Consider the equilibrium of joint C: Fcb = (L1 - Fcd)/sin(Theta2); Fca = Fcb*cos(Theta2) + Fce; % Consider the equilibrium of joint B: Fba = Fcb*sin(Theta2) + Fdb*sin(Theta1); % Compute the support reactions Rax = Fca; Ray = Fba; Rbx = Fdb*cos(Theta1) + Fcb*cos(Theta2); Rby = 0; % Display results: fprintf('The forces in members are: Fec = %gN(T)\nFed = %gN(C)\n',... Fce, Fed); fprintf('Fdc = %gN(C)\nFdb = %gN(C)\nFbc = %gN(C)\nFba = %gN(T)\n',... Fcd, Fdb, Fcb, Fba); fprintf('Fca = %gN(T)\n',Fca);
% % % % %
============================================================================== FURTHER EXERCISES (1) Compute the force in member CD if the force L3 = 1000N. (2) Vary the length of AB from 1 to 10ft and calculate the corresponding force in member CD.
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Problem 2.5.2 Truss analysis of a jack support stand Suppose that you are asked to design the stand illustrated in Figure P6.19 by choosing the angle that gives that gives the smallest value of force in each member. A constraint on your solution is that the stand must be 0.15 m high (that is, DB = 0.15 m) and that the width of the stand (as measured by the line AC) must be less than 0.4 m. The maximum load the stand must hold is 1500 N.
MATLAB File % -----------------------------------------------------------------------------% % % % % % % % % % AUTHOR: LAST UPDATE: REFERENCE: Dhaval Shah August 4, 2000 Problem 6-20 on pg. 302 in Engineering Mechanics Statics by Soutas.
PROBLEM OVERVIEW: This problem deals with computing the smallest value of force in each member by choosing the angle 'Theta'. Given that the stand BD must be 0.15m high and the width of the stand AC must be less than 0.4 m. The maximum load on the stand is 1500N.
% CONCEPT KEYWORDS: Free-body diagrams, Analysis of structures % % VARIABLE DICTIONARY: % Variable Remarks % -------------% F Applied load at joint B % Lad, Ldc, Lbd Lengths of different truss members % Fad, Fab, Fbc, Fdc Forces in different truss members % Theta Angle between AD and AB % Ha Reaction at point A along X axis % Va Reaction at point A along Y axis % Vc Reaction at point C along Y axis
Status -----Given Given To be computed To be computed To be computed To be computed To be computed
% --------------------------------------------------------------------------------% Set default values: F = 1500; Lac = 0.2; Lcd = 0.1; Lad = 0.1; Lbd = 0.15; AInc = 0.01; RadiansToDegrees = 180/pi;
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% Run through the loop for different values of Lad. % We will assume that the stand is symmetric. J = 0; for I = 0.01:AInc:0.3 J = J + 1; Lad(J) = I; Lcd(J) = Lad(J); % Compute Theta for differnt values of Lad Beta(J) = atan(Lbd/Lcd(J)); Theta(J) = atan(Lbd/Lad(J)); end % Compute the different forces in each member and reactions % by using equilibrium equations FTotalMin = 100*F; for I = 1:1:J % Compute vertical reaction at C Vc = (F*Lad(I))/(Lad(I) + Lcd(I)); % Compute vertical reaction at A Va = F - Vc; Fab(I) = Va/sin(Theta(I)); % Apply equilibrium equations at A Fbc(I) = Vc/sin(Beta(I)); % Apply equilibrium equations at B Fdc(I) = Fbc(I)*cos(Beta(I)); % Apply equilibrium equations at C Fad(I) = Fab(I)*cos(Theta(I)); % Apply equilibrium equations at D Fdb(I) = 0; FTotal = abs(Fab(I)) + abs(Fbc(I)) + ... abs(Fdc(I)) + abs(Fad(I)) + abs(Fdb(I)); if (FTotal < FTotalMin) FTotalMin = FTotal; LMin = Lad(I); ThetaMin = RadiansToDegrees*Theta(I); end % Convert from radians to degrees ThetaD(I) = RadiansToDegrees*Theta(I); end fprintf ('Min force is for Lad=%g m or Theta=%g degrees\n',... LMin, ThetaMin); % Plot different forces in each member against Theta plot (ThetaD,-Fab),text(ThetaD(2),-Fab(2),'Fab') hold on,plot(ThetaD,-Fbc),text(ThetaD(4),-Fbc(4),'Fbc') hold on,plot(ThetaD,Fdc),text(ThetaD(5),Fdc(5),'Fdc') hold on,plot(ThetaD,Fdb),text(ThetaD(10),Fdb(10),'Fdb') hold on,plot(ThetaD,Fad),text(ThetaD(10),Fad(7),'Fad') grid on xlabel ('Theta (degrees)'); ylabel ('Member Force (N)'); % % % % % % ============================================================================== FURTHER EXERCISES (1) Keeping the angle 'Theta' constant at 25 degrees, vary the height of member DB between 0.1 m and 0.3 m and plot the forces in each member against the height DB. (2) Reformulate the design problem statement to obtain a more meaningful
43
design result.
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Problem 2.5.3 Space frames supporting window-washing scaffold A window-washing scaffold is supported by two space frames, one of which is illustrated in Figure P6.60. The support at A is a ball and socket, and those at B and C are frictionless supports; C also has a pin restraint in the x-direction, to keep the frame from rotating. Joint D is centered 1 m above the intersection of BC and AE, which coincides with the midpoint of line BC, which is 1 m long. (a) How many unknowns and how many equations does this system represent if solved by the method of joints? (b) Compute the reaction forces at points and the forces in each member.
MATLAB File % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % % --------------------------------------------------------------------------AUTHOR: Dhaval Shah LAST UPDATE: August 4, 2000 REFERENCE: Problem 6-60 on pg. 316 in Engineering Mechanics Statics by Soutas. PROBLEM OVERVIEW: This problem deals with computing a the reaction forces and the force in each member of a window-washing scaffold supported by 2 space trusses.
CONCEPT KEYWORDS: Analysis of Structures, Space Truss VARIABLE DICTIONARY: Variable Remarks -------------O Point O is the origin Ax,Ay,Az The x, y, z coordinates of point A Bx,By,Bz The x, y, z coordinates of point B Dx,Dy,Dz The x, y, z coordinates of point D Ex,Ey,Ez The x, y, z coordinates of point E Cx,Cy,Cz The x, y, z coordinates of point F Fab,Fac,Fad Force vectors in members AB, AC, AD Feb,Fec,Fed Force vectors in members EB, EC, ED Fbc,Fbd,Fcd Force vectors in members BC, BD, CD Nab,Nad,Nac Unit vectors along AB, AD, AC Neb,Ned,Nec Unit vectors along EB, ED, EC Nbc,Nbd,Ncd Unit vectors along BC, BD, CD RBz Reaction at B along Z axis RCx Reaction at C along X axis RCz Reaction at C along Z axis RAx,RAy,RAz Reactions at A along X, Y, Z axis
Status -----Given Given Given Given Given Given To be computed To be computed To be computed To be computed To be computed To be computed To be computed To be computed To be computed To be computed
% ----------------------------------------------------------------------------
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% Set default values F = 10; Ax = 0; Ay = 0; Az = 0; Dx = 0.5; Dy = 0; Dz = 1; Ex = 2; Ey = 0; Ez =0; Cx = 0.5; Cy = 0.5; Cz = 0; Bx = 0.5; By = -0.5; Bz = 0; % Define M = (Mx)i + (My)j + (Mz)k % Define F = (Fx)i + (Fy)j + (Fz)k % Define R = (Rx)i + (Ry)j + (Rz)k % Rd/a has 3 components : Rdax, Rday, Rdaz: Rdax = (Dx - Ax); Rday = (Dy - Ay); Rdaz = (Dz - Az); % Unit vector along Da: Lda = sqrt(Rdax^2 + Rday^2 + Rdaz^2); Ndax = Rdax/Lda; Nday = Rday/Lda; Ndaz = Rdaz/Lda; % Rb/a has 3 components : Rbax, Rbay, Rbaz: Rbax = (Bx - Ax); Rbay = (By - Ay); Rbaz = (Bz - Az); % Unit vector along BA: Lba = sqrt(Rbax^2 + Rbay^2 + Rbaz^2); Nbax = Rbax/Lba; Nbay = Rbay/Lba; Nbaz = Rbaz/Lba; % Rc/a has 3 components : Reax, Reay, Reaz: Rcax = (Cx - Ax); Rcay = (Cy - Ay); Rcaz = (Cz - Az); % Unit vector along CA: Lca = sqrt(Rcax^2 + Rcay^2 + Rcaz^2); Ncax = Rcax/Lca; Ncay = Rcay/Lca; Ncaz = Rcaz/Lca; Rebx = (Ex - Bx); Reby = (Ey - By); Rebz = (Ez - Bz); % Unit vector along EB: Leb = sqrt(Rebx^2 + Reby^2 + Rebz^2); Nebx = Rebx/Leb; Neby = Reby/Leb; Nebz = Rebz/Leb; % Rb/a has 3 components : Rbax, Rbay, Rbaz: Recx = (Ex - Cx); Recy = (Ey - Cy); Recz = (Ez - Cz); % Unit vector along BA: Lec = sqrt(Recx^2 + Recy^2 + Recz^2); Necx = Recx/Lec; Necy = Recy/Lec; Necz = Recz/Lec; % Rc/a has 3 components : Reax, Reay, Reaz: Redx = (Ex - Dx); Redy = (Ey - Dy); Redz = (Ez - Dz); % Unit vector along CA: Led = sqrt(Redx^2 + Redy^2 + Redz^2); Nedx = Redx/Led; Nedy = Redy/Led; Nedz = Redz/Led; Rbcx = (Bx - Cx); Rbcy = (By - Cy); Rbcz = (Bz - Cz); % Unit vector along Da: Lbc = sqrt(Rbcx^2 + Rbcy^2 + Rbcz^2); Nbcx = Rbcx/Lbc; Nbcy = Rbcy/Lbc; Nbcz = Rbcz/Lbc; % Rb/a has 3 components : Rbax, Rbay, Rbaz: Rbdx = (Bx - Dx); Rbdy = (By - Dy); Rbdz = (Bz - Dz); % Unit vector along BA: Lbd = sqrt(Rbdx^2 + Rbdy^2 + Rbdz^2); Nbdx = Rbdx/Lbd; Nbdy = Rbdy/Lbd; Nbdz = Rbdz/Lbd; % Rc/a has 3 components : Reax, Reay, Reaz: Rcdx = (Cx - Dx); Rcdy = (Cy - Dy); Rcdz = (Cz - Dz); % Unit vector along CA: Lcd = sqrt(Rcdx^2 + Rcdy^2 + Rcdz^2); Ncdx = Rcdx/Lcd; Ncdy = Rcdy/Lcd; Ncdz = Rcdz/Lcd; % % % % % Form the linear equations to determine the force in each member and the reactions. For joint A: Ndax(AD) + Nbax(AB) + Ncax(AC) + Ax = 0; Nday(AD) + Nbay(AB) + Ncay(AC) + Ay = 0;
46
% % % % % % % % % % % % % % % % %
Ndaz(AD) + Nbaz(AB) + Ncaz(AC) + Az = 0; For joint B: -Nbax(BA) + Nbex(BE) + -Nbcx(BC) + -Nbdx(BD) = 0; -Nbay(BA) + Nbey(BE) + -Nbcy(BC) + -Nbdy(BD) = 0; -Nbaz(BA) + Nbez(BE) + -Nbcz(BC) + -Nbdz(BD) + Bz = 0; For joint C: -Ncax(CA) + Ncex(CE) + Nbcx(CB) + -Ncdx(CD) + Cx = 0; -Ncay(CA) + Ncey(CE) + -Nbcy(CB) + -Ncdy(CD) = 0; -Ncaz(CA) + Ncez(CE) + -Nbcz(CB) + -Ncdz(BD) + Cz = 0; For joint E: -Nedx(ED) + -Nebx(EB) + -Necx(EC) = 0; -Nedy(ED) + -Neby(EB) + -Necy(EC) = 0; -Nedz(ED) + -Nebz(EB) + -Necz(EC) + -10 = 0; For joint D: -Ndax(DA) + Ndbx(BE) + Ndcx(BC) + -Nedx(BD) = 0; -Nday(DA) + Ndbz(BE) + Ndcy(BC) + -Nedy(BD) = 0; -Ndaz(DA) + Ndbz(BE) + Ndcz(BC) + -Nedz(BD) = 0;
% Solve for: [A][X] = [B] % A = [ Fda Fba Fca Fed Fec Feb Fbc Fbd Fcd Ax Ay Az Cx Cz Bz] a = [ Ndax Nbax Ncax 0 0 0 0 0 0 1 0 0 0 0 0 ]; b = [ Nday Nbay Ncay 0 0 0 0 0 0 0 1 0 0 0 0 ]; c = [ Ndaz Nbaz Ncaz 0 0 0 0 0 0 0 0 1 0 0 0 ]; d = [ 0 -Nbax 0 0 0 Nebx -Nbcx -Nbdx 0 0 0 0 0 0 0 ]; e = [ 0 -Nbay 0 0 0 Neby -Nbcy -Nbdy 0 0 0 0 0 0 0 ]; f = [ 0 -Nbaz 0 0 0 Nebz -Nbcz -Nbdz 0 0 0 0 0 0 1 ]; g = [ 0 0 -Ncax 0 Necx 0 Nbcx 0 -Ncdx 0 0 0 1 0 0 ]; h = [ 0 0 -Ncay 0 Necy 0 Nbcy 0 -Ncdy 0 0 0 0 0 0 ]; i = [ 0 0 -Ncaz 0 Necz 0 Nbcz 0 -Ncdz 0 0 0 0 1 0 ]; j = [ 0 0 0 -Nedx -Necx -Nebx 0 0 0 0 0 0 0 0 0 ]; k = [ 0 0 0 -Nedy -Necy -Neby 0 0 0 0 0 0 0 0 0 ]; l = [ 0 0 0 -Nedz -Necz -Nebz 0 0 0 0 0 0 0 0 0 ]; m = [-Ndax 0 0 Nedx 0 0 0 Nbdx Ncdx 0 0 0 0 0 0 ]; n = [-Nday 0 0 Nedy 0 0 0 Nbdy Ncdy 0 0 0 0 0 0 ]; o = [-Ndaz 0 0 Nedz 0 0 0 Nbdz Ncdz 0 0 0 0 0 0 ]; A = [ a; b; c; d; e; f; g; h; i; j; k; l; m ; n; o]; B = [ 0; 0; 0; 0; 0; 0; 0; 0; 0; 0; 0; 10; 0; 0; 0]; x = inv(A)*B; % Display results fprintf ('Fda = fprintf ('Fba = fprintf ('Fca = fprintf ('Fed = fprintf ('Fec = fprintf ('Fed = fprintf ('Fbc = fprintf ('Fbd = fprintf ('Fcd = fprintf ('RAx = fprintf ('RAy = fprintf ('RAz = fprintf ('RCx = fprintf ('RCz = fprintf ('RBz =
%g %g %g %g %g %g %g %g %g %g %g %g %g %g %g
kN\n',x(1)); kN\n',x(2)); kN\n',x(3)); kN\n',x(4)); kN\n',x(5)); kN\n',x(6)); kN\n',x(7)); kN\n',x(8)); kN\n',x(9)); kN\n',x(10)); kN\n',x(11)); kN\n',x(12)); kN\n',x(13)); kN\n',x(14)); kN\n',x(15));
47
% % % % % %
============================================================================== FURTHER EXERCISES (1) Solve the above problem, if C has a pin restraint in the y-direction instead of x-direction. (2) Is the structure statically determinate if C has a pin restraint in both x and y directions?
48
Problem 2.5.4 Lever system Compute the forces at A, B, and C, as well as F, for the lever system of Figure P6.84 analytically in terms of the four lengths a, b, c, and d.
MATLAB File % ------------------------------------------------------------------------------
% AUTHOR:
Dhaval Shah
% LAST UPDATE:
August 4, 2000
% REFERENCE: Problem 6-85 on pg. 329 in Engineering Mechanics Statics by Soutas. % % PROBLEM OVERVIEW: This problem deals with computing the forces at A, B, and C, % as well as F, for the lever system in terms of P, a, b, c, % and d. Point 'D' is the point where 'P' is applied and 'E' % is the point where 'F' is applied. % CONCEPT KEYWORDS: Analysis of Structures: Free Body Diagrams % % VARIABLE DICTIONARY: % Variable Remarks % -------------% F Unknown force applied at E % Lad, Lac, Lbc, Lbe Distances on the beam % P Force applied at 'D' % Vb Reaction at point B along X axis % Va Reaction at point A along Y axis % Vc Reaction at point C along Y axis
Status -----To be computed Given Given To be computed To be computed To be computed
% --------------------------------------------------------------------------------% Define variables or parameters that are to needed to compute the unknown quantities syms a b c d F P
49
% Take moments about Va = (P*(c+d))/d; % Take moments about Vc = (P*c)/d; % Take moments about F = (Vc*a)/(b); % Take moments about Vb = (F*(b+a))/a;
point 'C' to compute Va point 'A' to compute Vc point 'B' to compute F point 'C' to compute Vb
% Display results: fprintf('The reactions at the joints are:\n'); fprintf('Va:'); pretty(Va) fprintf('Vb:'); pretty(Vb) fprintf('Vc:'); pretty(Vc) fprintf('The force F = '); pretty(F)
50
Problem 2.5.5 Plow Mechanism Compute the forces at the connections labeled for the plow mechanism in Figure P6.95, under the assumption that the blade of the plow provides a force of P = 10 kN and W = 1.5 kN. Neglect the weight of the other members of the machine.
MATLAB File % ---------------------------------------------------------------------------
% AUTHOR:
Dhaval Shah
% LAST UPDATE: August 4, 2000 % % REFERENCE: Problem 6-95 on pg. 333 in Engineering Mechanics Statics by Soutas. % % PROBLEM OVERVIEW: This problem deals with computing the forces at the connections % for the plow mechanism, when the blade of plow provides a % force of P = 10kN and W = 1.5kN. Also, note that DE, BF % and GF are two force members. % % CONCEPT KEYWORDS: Analysis of Structures, Free Body Diagrams % % VARIABLE DICTIONARY: % Variable Remarks Status % ------------------% P, W Forces that the blade provides Given % Fde,Fbf,Fgf Forces in members DE, BF, GF To be computed % Ax,Ay Reaction at A along X, Y axis To be computed
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% Fx,Fy Reaction at F along X, Y axis To be computed % Cx,Cy Reaction at C along X, Y axis To be computed % ---------------------------------------------------------------------------% Set default values: P = 10; W = 1.5; % From the geometry of figure, the angle CF makes with the horizontal is: Alpha = atan(0.1/0.3); % % % % The equilibrium equations for the blade portion are: Summation Fx = Ax + 10 + Fgf*cos(alpha) = 0. Summation Fy = Ay - 1.5 + Fgf*sin(alpha) = 0. Summation Ma = W(0.05) - P(0.15) - Fgfcos(alpha)(0.3) = 0. Fgf = (W*(0.05) - P*(0.15))/(0.3*cos(Alpha)); Ay = W - Fgf*sin(Alpha); Ax = -P - Fgf*cos(Alpha);
% The angle that ED makes with the horizontal is 'Beta': Beta = atan(0.2/0.3); % % % % % % % % % % % % % % Consider the equilibrium of the body 'FDC'. Forces 'Fx', 'Fy' are the pin forces acting at 'F'. Fde acts at 'D' at an angle 'Beta'. 'Cx', 'Cy' are the the pin forces at 'C'. Sum Fx = Cx - Fx + Fdecos(Beta) = 0 ....(A) Sum Fy = Cy + Fy - Fdesin(Beta) = 0 ....(B) Md = Cy(0.05) + Cx(0.2) - Fy(0.45) = 0 ....(C) The angle that FB makes with the horizontal is 'Theta': Theta = atan(0.3/0.1); Consider the equilibrium of the bar 'AFE'. Forces 'Fx', 'Fy' are the pin forces acting at 'F'. Fde acts at 'E' at an angle 'Beta'. Ffb acts at 'F' at an angle 'Theta'. Sum Fx = Fx - Fdecos(Beta) - Fgfcos(Alpha) - Fbfcos(Theta) - Ax = 0 ...(D) Sum Fy = -Fy + Fdesin(Beta) - Fgfsin(Alpha) + Fbfsin(Theta) - Ay = 0 ...(E) Mf = Fdesin(Beta)(0.2) + Fdecos(Beta)(0.2) + Ay(0.3) - Ax(0.4) = 0 From Mf = 0, we get: Fde = (Ax*(0.4) - Ay*(0.3))/(sin(Beta)*0.2 + cos(Beta)*0.2);
% Now we solve a set of linear equations 'A' to 'E' described above % to solve for Cx, Cy, Fx, Fy, Fbf. % A = [ Cx Cy Fx Fy Fbf ] a = [ 1 0 -1 0 0]; b = [ 0 1 0 1 0]; c =[ 0.2 0.05 0 -0.45 0]; d = [ 0 0 1 0 -cos(Theta)]; e = [ 0 0 0 -1 sin(Theta)]; f = Fgf*cos(Alpha)+Fde*cos(Beta)+Ax; g = Fgf*sin(Alpha)-Fde*sin(Beta)+Ay; A = [ a; b; c; d; e]; B = [ -Fde*cos(Beta); Fde*sin(Beta); 0; f; g]; x = inv(A)*B; % Display results: fprintf('The reactions fprintf('The force Fde fprintf('The force Fgf fprintf('The reactions fprintf('The reactions fprintf('The force Fbf
at A = %g = %g at C at F = %g
are Ax kN\n', kN\n', are Cx are Fx kN\n',
= %g kN, Ay = %g kN\n', Ax,Ay); Fde); Fgf); = %g kN, Cy = %gkN\n', x(1),x(2)); = %g kN, Fy = %gkN\n', x(3),x(4)); x(5));
52
2.6 Beam and Frame Analysis Two problems are solved in this section. This Guides Problem ID Problem 2.6.1 Problem 2.6.2 Corresponding Problem from ECE210 Text Problem 7.31 on page 357 Problem 7.59 on page 377 Problem Title Airplane wing acting as a cantilevered beam Computations of tension in cable segments
53
Problem 2.6.1 Airplane wing acting a cantilevered beam A lifting load on an airplane wing is modeled by w( x ) = 1000 x sin( x )lb / ft , and the wing is modeled as a 10-ft-long cantilevered beam. (See Figure P7.31). Compute the reaction forces, as well as the shear force and the bending moment as a function of x. Plot the shear and the bending moment functions.
MATLAB File: This is the main m-file which calls FV731.m and FB731.m files to plot the shear and bending functions. % ---------------------------------------------------------------------------
% AUTHOR:
Dhaval Shah
% % % % % % % % % % % % % % % % % %
LAST UPDATE:
August 4, 2000
REFERENCE: Problem 7-31 on pg. 357 in Engineering Mechanics Statics by Soutas. PROBLEM OVERVIEW: To compute the reaction forces and the internal shear force and bending moment. Plot the SF and BM as a function of 'x'. The loading is w(x) = 1000*x*sin(x) lb/ft. CONCEPT KEYWORDS: Shear Force, Bending Moments, Beams VARIABLE DICTIONARY: Variable Remarks Status ------------------w Distributed load Given A Area under the load curve To be computed L Length of the beam Given AInc Increments to change the length'L' Given ----------------------------------------------------------------------------
% Set default values L = 10; w = 1000; AInc = 0.1; AngleToRadians = pi/180; % % % % % % To calculate the total force acting on the beam we need to integrate the distributed load w(x) along the length of the beam. The total load is the area under the curve of the load w(x). Consider a vertical strip of infinitesimally small thickness 'dx' at any 'x' having length of 'w(x)'. Let the area of this strip be dA = w(x)dx. As this strip moves along the x axis from '0' to 'L', we need to integrate the above equation dA
54
% from '0' to 'L'. x=0:0.1:10; n = length(x);
% Defines the length of the array 'x'
% Use the quad8 function for numerical integration for i = 1:n Vx(i) = quad8 ('fV731',0,x(i),[],[],w,L); Mx(i) = quad8 ('fB731',0,x(i),[],[],w,L); end % prepare for plotting figure(1); clf; subplot (2,1,1) plot (x,Vx) % Plots shear force diagram xlabel ('x (ft)') ylabel ('V(x) (lb)') subplot (2,1,2) plot (x,Mx) % Plots bending moment diagram xlabel ('x (ft)') ylabel ('M(x) (lb-ft)')
% ============================================================================== % FURTHER EXERCISES % (1) Solve the same problem by taking a vertical strip moving along the w(x) axis.
MATLAB File fV731.m function y = fV731 (u,w,L) % define the shear force function y = w*(sin(u) - u.*sin(u)) - 7850; MATLAB File fB731.m function y = fB731(u,w,L) % define the bending moment function y = 71349 - 7850*u - 2000*cos(u) - 1000*u.*sin(u);
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Problem 2.6.2 Computation of tension in cable segments Compute the tension in each cable segment and the angles , , and for the traffic light system shown in Figure P7.59. Design (choose) the hanger length l so that the top of the two lights hang to the same level for ease of viewing. The length of the cable is 155 ft. Here, P = 125lb and P = 100lb . 2 1
MATLAB FILE: This is the main m-file. The equations are defined in m- file sp759_fcn.m and the nonlinear equation solver is in file mnewt.m. % ---------------------------------------------------------------------------
% % % % % % % % % % % % % % % % % % % % % % % % %
AUTHOR: LAST UPDATE:
Dhaval Shah August 4, 2000
REFERENCE: Problem 7-59 on pg. 377 in Engineering Mechanics Statics by Soutas. PROBLEM OVERVIEW: To compute the tension in each cable segment and the angles alpha, beta, and gamma for the traffic light system. Given that P1 = 125lb and P2 = 100lb hang from B and C as shown in the figure. CONCEPT KEYWORDS: Internal Forces, Cables. VARIABLE DICTIONARY: Variable Remarks Status ------------------L Length of Cable Given P1, P2 Loads on the cable Given alpha1 Angle made by cable AB with horz. To be computed alpha2 Angle made by cable BC with horz. To be computed alpha3 Angle made by cable CD with horz. To be computed T1, T2, T3 Tensions in cables AB, BC, CD To be computed ABx, BCx Horizontal lengths of AB, BC Given CDx, ADy Lengths of CD, AD as shown in figure Given ---------------------------------------------------------------------------Set default values: L = 155; P1 = 125; P2 = 100; ABx = 100; BCx = 25; CDx = 25; ADy = 0;
56
% put initial guesses into a column vector % T1 T2 T3 alpha1 alpha2 IC = [400; 400; 400; 5; 15;
alpha3 25];
% Use the Newton-Raphson method mnewt to solve the system % on nonlinear equations soln = mnewt('sp759_fcn', 100, IC, 1.0e-4, 1.0e-4, L, P1, P2,... ABx,BCx,CDx,ADy); % Display the results fprintf('\nFor L = fprintf('T1 fprintf('T2 fprintf('T3 fprintf('alpha fprintf('beta fprintf('gamma
%g ft the solution is\n', L); = %8.3f lb\n', soln(1)); = %8.3f lb\n', soln(2)); = %8.3f lb\n', soln(3)); = %8.3f lb\n', soln(4)); = %8.3f lb\n', soln(5)); = %8.3f lb\n', soln(6));
MATLAB File sp759_fcn.m function q = sp759_fcn (p, L, P1, P2, ABx, BCx, CDx, ADy) % set up the equilibrium equations T1 = p(1); T2 = p(2); T3 = p(3); DegreesToRadians = pi/180; alpha1 = p(4)*DegreesToRadians; alpha2 = p(5)*DegreesToRadians; alpha3 = p(6)*DegreesToRadians; q = zeros(6,1); q(1) = -T1*cos(alpha1) + T2*cos(alpha2); q(2) = -T1*sin(alpha1) + T2*sin(alpha2) - P1; q(3) = -T2*cos(alpha2) + T3*cos(alpha3); q(4) = -T2*sin(alpha2) + T3*sin(alpha3) - P2; q(5) = ABx*tan(alpha1) + BCx*tan(alpha2) + CDx*tan(alpha3) - ADy; q(6) = sum([ABx BCx CDx]./cos([alpha1 alpha2 alpha3])) - L;
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2.7 Friction Two problems are solved in this section. This Guides Problem ID Problem 2.7.1 Problem 2.7.2 Corresponding Problem from ECE210 Text Problem 8.29 on page 400 Problem 8.89 on page 412 Problem Title Wedge on an inclined plane Leveling of a refrigerator by using a wedge
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Problem 2.7.1 Wedge on an inclined plane A 10-lb force is pushing a 40-lb block, as shown in Figure P8.4. The angle of inclination of the plane is which varies from 0 to 65 in increments of 5 . The coefficient of static friction between the block and the incline is s = 0.75 , and the coefficient of kinetic friction is k = 0.65 . Will the block slide on the plane? If it does, will it slide up or down the plane? What is the friction force between the block and the plane?

MATLAB File % ---------------------------------------------------------------------------
% AUTHOR:
Dhaval Shah
% % % % % % % % % % % % % % % % %
LAST UPDATE:
August 4, 2000
REFERENCE: Problem 8-29 on pg. 400 in Engineering Mechanics Statics by Soutas. PROBLEM OVERVIEW: This problem deals with finding out if the block of 40lb, subjected to a horizontal force of 10lb, starts sliding on an inclined plane making an angle 'Beta'? CONCEPT KEYWORDS: Friction: Coulomb Friction. VARIABLE DICTIONARY: Variable Remarks -------------W Weight of the block P Force applied to the block Beta Angle of inclination of the inclined plane
Status -----Given Given To be varied
% Nus Coefficient of Static Friction Given % Nuk Coefficient of Kinetic Friction Given % Fs Static frictional force To be computed % Fk Kinetic frictional force To be computed % N Normal force perpendicular to % the inclined plane Intermediate qty % AInc Increments to change the angle 'Beta' Given % ---------------------------------------------------------------------------% Set default values W = 40; P = 10; Nus = 0.75; Nuk = 0.65; AInc = 5; AngletoRadians = pi/180;
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% Now run through the for loop to get the different values of Beta % from 0 to 65 degrees. J = 0; for I = 0:5:65 J = J + 1; Beta(J) = I; BetaR(J) = I * AngletoRadians; % Define equilbrium equations to obtain the unknowns. % Components perpendicular to the inclined plane are equated. N = W*cos(BetaR(J)); Fs = Nus * N; % Components along the plane are equated. Fact = (W*sin(BetaR(J)) + P); if Fs < Fact fprintf ('The block will slide for angle %g degrees.\n',... Beta(J)); Fk = Nuk * N; fprintf ('Now that the block slides, the frictional'); fprintf (' force is %g lb\n', Fk); else fprintf (' The block will not slide for angle %g degrees.\n',... Beta(J)); end end % % % % % % ============================================================================== FURTHER EXERCISES (1) Resolve the above problem if the force P as shown in the figure is at an inclination of 20 degrees with the inclined plane. (2) Compute the force P in the above problem such that the block stays at rest for all the cases of Beta varying from 0 to 65 degrees.
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Problem 2.7.2 Leveling of a refrigerator by using a wedge It is necessary to level the refrigerator shown in the Figure P8.87 with a 10 wedge system. The weight distribution is such that the weights on all feet of the 800-lb refrigerator are equal. The coefficient of friction between the feet and the contacting surface is 0.8, the coefficient of static friction between the wedges is 0.2, and the coefficient of static friction between the wedge and the floor is 0.4. What is the minimum force P required to initiate leveling of the refrigerator?
MATLAB FILE: % ---------------------------------------------------------------------------
% AUTHOR:
Dhaval Shah
% LAST UPDATE:
August 4, 2000
% % % % % % % % % % % % % % % % % % % % % % %
REFERENCE: Problem 8-89 on pg. 400 in Engineering Mechanics Statics by Soutas. PROBLEM OVERVIEW: This problem deals with computing the minimum force P that is applied to the wedge to level the refrigerator. Given that the wedge system is 10 degrees and the coefficient of friction between wedges is 0.2, between the feet and wedge is 0.8 and that between the wedge and the floor is 0.8. CONCEPT KEYWORDS: Friction, Coulomb Friction. VARIABLE DICTIONARY: Variable Remarks -------------W Weight of the refrigerator P Force applied to the wedge Beta Angle of inclination of the wedge with horizontal Nus1, Nus2, Nus3 Coefficient of Static Friction Fs1 Frictional force between feet and wedge Fs2 Frictional force between two wedges Fs3 Frictional force between wedge and floor
Status -----Given To be computed Given Given To be computed To be computed To be computed
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% N Normal force perpendicular to % the inclined plane of the wedge Intermediate qty % ---------------------------------------------------------------------------% Set absolute values: W = 800; W1 = W/4; % weight on each foot of the refrigerator Nus1 = 0.8; Nus2 = 0.2; Nus3 = 0.4; Beta = 10; AngletoRadians = pi/180; BetaR = Beta * AngletoRadians; % Consider the foot of the refrigerator in equilibrium and compute the force % normal to its foot N1 = W1; % Compute the frictional force Fs1 = N1*Nus1; % Consider the equilibrium of the wedge on which 'P' is applied. % Equating all the forces along the vertical: N2 = W1/(cos(BetaR) - Nus2*sin(BetaR)); % Equating all the forces along the horizontal: Fs2 = Nus2*N2; P = Fs1 + N2*sin(BetaR) + Fs2*cos(BetaR); % Display results: fprintf ('The minimum force P required to level the refrigerator'); fprintf (' is: %g lb\n', P); % ============================================================================== % FURTHER EXERCISES % (1) Solve the above problem for Beta = 5 degrees.
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