Unit I Basics & Statics of Particles Introduction units & Dimensions Law of Mechanics Lamis theorem Parallelogram and

m and triangular law of forces Vectors Vectorial representation of forces & moments Vector operations : additions, subtraction, dot product, cross product coplaner forces Resolution & Composition of forces Equilibrium of a particle Forces in space Equilibrium of particle in space Equivalent systems of forces Principle of transmissibility Single equivalent force.

Units of Measurement A physical quantity can be measured by comparing sample with a known standard amount.

Types Basics Units Derived Units

Basics Units Basic (or) fundamental quantities likes mass, length, time are measured.

Derived Units Physical quantities are measured it is also known as the secondary units.

Example : Area, Volume, Speed, Velocity, etc.,

System of Units Foot pound second system (FPS) Centimetre, Gram, Second System (CGS) Metre, Kilogram Second System (MKS) System of International (SI)

SI Units are on the following 6 fundamental units (i) (ii) (iii) (iv) (v) (vi) Metre Kilogram Ampere Second Kelvin Candela Length Mass Electric current Time Temperature Intensity

Another Addition Radian Solid angles.

Law of Mechanics First Law A particle remain in its [rest (or) motion] if the resultant force acting on the particle is zero.

Second Law Acceleration of the particle will be proportional to the resultant force & direction if the resultant force is not zero.

Third Law Action & reaction forces b/w the interacting bodies are in the same line of action equal in magnitude.

Important Laws Lames theorem Parallelogram theorem Triangular Law of Force Polygon Law of Force

Scalar & Vector Quantities Scalar Quantities The quantities which possess magnitude only are called scalar quantities.

Example : Length, Area, Volume, Mass, etc.,

Vector Quantities The quantities which possess magnitude as well as direction are called vector quantities.

Example : Force, Velocity, Acceleration, etc.,

Detailed Vector Quantities A vector is a quantity that has both a magnitude & a direction.

A vector is generally represented by a letter with an arrow written over. Such as .

Classifications of Vectors i) ii) iii) iv) v) vi) Free Vectors Sliding Vectors Fixed Vectors Unit Vectors Negative Vectors Zero Vectors Move on any where Any point Fixed Point (Moment) One unit length Opposite Directions Same vectors in opposite ie - = 0

[Null Vectors]

Vectors Operations Rectangular Unit Vectors i.j.k

 Vector addition Vector subtraction Multiplication of vectors by scalars Dot (or) Scalar product of vectors Cross (or) Vector product of vectors Position vectors The moment of a force

Rectangular Unit Vectors i.j.k The unit vector along OX, OY, OZ are denoted by i.j.k. respectively. Draw PM to the plane XOZ & MZ to OZ.

Then, ON = zk, NM = xi, MP = yj

Find OP. = = = ON + NM + MP = zk + xi + yj = xi + yj + zk, Magnitude = r = Position Vectors

More general any vector where components along the axes are respectively Ax, Ay, Az. = Axi + Ayj + Azk Magnitude = | | = A =

Vector addition Two vectors & may be added by using (i) Parallelogram law (or) (ii) Triangle law.

Parallelogram = +

Triangle = +

Vector Subtraction - = + (- ) =

= +

= +

Multiplication of vectors by scalars : 1) (m + n) = m + n 2) m( + ) = m + m 3) m (n ) = n(m ) = (mn)

Dot (or) Scalar product of vectors 1) . = . 2) .( + ) = a.b + a.c 3) m( . ) = (m ). = .(m )

Cross (or) Vector product of vectors x = - x a = xi + yj + zk, = xi + yj + zk => Angle x = | | x = AB sin

a x b = i(Ay Bz By Az) j(AxBz - BxAz) + k(AxBy - BxAy)

Position Vector Position Vector = xi + vj + zk Magnitude r =

The Moment of a force : Moment = x = xi + yj + zk = Fxi + Fyj + Fzk = x = | |

Problem Note Dot Product = Scalar Value ie. Number values & Another all product = Vector values ie. (i.j.k) values

(1) Moment of force Given by : 1) Co ordinates (P) 2) Position ( ) (2) = (Subtraction law) (3) Right angles do not product (4) Parallel Cross Product Answer = 0 Answer = 0

System of force Force A force represents the action of one body on another.

Force is vector Quantity.

Characteristic of a force Magnitude (importance) Line of action Direction

System of Force

Coplanar

Non Coplanar

Collinear

Concurrent

Non-Concurrent

Concurrent

Non Concurrent

Like

Unlike

Parallel

Non Parallel

Parallel

Non-Parallel

Like

Unlike

Like

Unlike

Fig : System of Force

Coplanar Force In Coplanar force system all the forces act in one plane.

Collinear Forces : The forces which acts on a common line of action are called collinear.

F1 >

F2 >

F3 >

F1 >

F2 <

F3 >

Concurrent Forces In concurrent force system forces intersects at a common point.

Parallel Forces In Parallel force system line of action of forces are parallel to each other.

Same Direction Like

Opposite Direction Unlike

Non Coplanar Forces In Non Coplanar forces system, the forces do not act in one plane. Coplanar Non Concurrent Force
E

F F1 F1

F2 D F2 A Non Coplanar Concurrent Force Forces intersects at one point, but their lines of action do not lie on the same plane. B C

F1 F2

Non Coplanar Non Concurrent Forces Forces do not intersects at one point & also their lines of action do not lie on the same plane.

F1

F2

Resultant Force Resultant force of all the force system can be determined by two methods. 1. Analytical Method 2. Graphical Method

Analytical Method Resultant force on coplanar (i) Collinear forces (i) Like (ii) Unlike

Like P > Q > S > = R = (P+Q+S) >

Unlike Horizontal Vertical => => (+) (+) (-) (-)

P <

Q >

S <

R => (- P + Q - S)

P Q S = R => (P Q + S)

(2) Concurrent Forces In order to find the resultant force of concurrent forces we shall take.

(i) (ii)

Resultant force of two concurrent forces. Resultant force of more than two concurrent forces.

Resultant force of the concurrent forces the analytical method of finding out the resultant of two concurrent forces can be developed from the parallelogram law of forces.

Parallelogram law of forces If two forces acting simultaneously at a point be represented in magnitude & direction by the two adjacent sides of a parallelogram then the resultant of these two forces is represented in magnitude & direction by the diagonal of that parallelogram originating from that point.

Proof

From the geometry of the parallelogram OB = AC & OA = BC

Hence the force Q can be represented on the line AC.

In triangle ACD cos = = --------------------- (1)

AD = Q cos sin = =

CD = Q sin And also, AD2 + CD2 = AC2 AD2 + CD2 = Q2 In triangle OCD OC2 = OD2 + CD2

--------------------- (2)

--------------------- (3)

OC2 = (OA+AD)2 + CD2 OC2 = OA2 + AD2 + 2.OA.AD + CD2 OC2 = OA2 + 2.OA.AD + AC2 We Know, OC = R.OA = P AC = Q.AD = Q cos CD = Q sin R2 = P2 + 2.P.Q cos + Q2 R2 = P2 + Q2 + 2.P.Q cos /R= | (OA + AD) |

Inclination of the resultant force : In triangle OCD tan = = =

tan =

Resultant force of more than two concurrent forces

Horizontal : cos Right side ( +) Positive Left side (, -) Negative Vertical : sin Upward (, +) Positive Downward (, -) Negative

Solving Procedure Step 1 : Find the algebraic sum of horizontal components. F1 cos + F2 cos + ....................

Step 2 :

Find the algebric sum of the vertical components : F1 sin + F2 sin F3 sin + ....................

Step 3 :

Find the magnitude of Resultant force R=

Step 4 :

Find the direction of Resultant force tan = = tan-1 ( )

Graphical Method Resultant force of two concurrent forces (i) (ii) Parallelogram law Triangle of forces

Triangle of forces If two forces acting at a point are represented by the sides of a triangle taken in order than resultant force in represented by the 3rd side taken in opposite order R2 = P2 + Q2 2PQ cos sin =

Resultant force of more than two concurrent for (i) polygon law of forces

Polygon law of forces If a number of coplanar concurrent forces are represented in magnitude & direction by the sides of a polygon taken in an order, then their resultant force is represented by the closing side of the polygon taken in the opposite order

Lamis Theorem It states that if three coplanar forces acting at a point be in equilibrium then each force is proportional to the sine of the angle b/w the other two = =

Proof Now we will find the resultant force of the forces P & Q.

This can be determined by parallelogram law of forces.

From the geometry of the figure AOC BOC = (180 - ) = (180 - ) ------ (1)

ACO BOC

BOC ------ (2) AOC

= (180 - )

We know, sum of interior angles in a triangle in 180o AOC + ACO + CAO = 180
o

CAO = 180 [ AOC + ACO ] = 180 [(180 - ) + (180 - )] = 180 180 + 180 + CAO = + - 180 We know + + = 360o

Subtract 180o from either side ( + + ) 180 = 360 180 ( + - 180) + = 180 CAO + r = 180 CAO = (180 - )

Apply sine rule AOC = = = = = =

Note : 1. Lamis theorem is only applied for three coplanar concurrent forces, which are in equilibrium. 2. Lamis theorem cannot be applied directly for three concurrent equilibrium forces.

Equilibrium of a Particle Conditions of Equilibrium For Equilibrium condition of force system the resultant is zero. ie R = O. But R = Hence both a are to be zero for equilibrium condition.

Equations of Equilibrium in two dimensions : Both . HL collinear forces. . VL collinear forces. , for concurrent forces.

Principle of Equilibrium : (i) Two force principle If a body is subjected to two forces, then the body will be in equilibrium if the two forces are collinear equal & opposite.

(ii) Three force principle If a body is subjected to three force, then the body will be equilibrium. If the resultant of any two forces is equal, opposite & collinear with the third force.

Force in space Force vector interms of co-ordinates (i) Components of the force x axis Fx = dx = (x2 x1) dy = (y2 y1) d= , y axis Fy =

(ii) Angle with co-ordinates Ox = cos-1 ( ) or Oy = cos-1 ( ) or

(iii) Force vector = Fxi + Fyi

(iv) Resultant force R=

Given by : Total force F. Angle = ? Fx = F cosx Fy = F cosy Fy = F cosz F = Fxi + Fyi + Fzk Check in direction cos2x + cos2y + cos2z = 1.

Resultant force of coplanar concurrent force system Let be the resultant force =

Direction : x = cos-1 ( ) y = cos-1 ( ) Rx = Ry =

Vector approach for a three dimensional = Fxi + Fyj + Fzk (or) = (F cosx) i + (F cosy) j + (F cosz) k || = F = Angle : x = cos-1 ( ) y = cos-1 ( ) z = cos-1 ( )

Same for two dimensional only addition of z part

Equilibrium of particles in space When a particle is subjected to concurrent forces in space for equilibrium condition Resultant force = 0 ie. Rxi + Ryj + Rzk = 0 i+ j+ k=0

Problems Unit vector () =

Position Vectors = xi + yj + zk r=

Principle of Transmissibility If a force acts at any point on a rigidbody it may also be considered to act at any other point on its line of actions.

Step 1

Step 2

Step 3