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1
,
2
= masses of two particles,
=
Weight of a body (gravitational force acting on a body) is required to be computed in Statics
as well as Dynamics.
Weight of a Body: If a particle is located at or near the
surface of the earth, the only significant gravitational force
is that between the earth and the particle.
=
where r = distance between the earths center and the particle
and =
=
acceleration due to gravity (9.81m/s
2
)
= .
, =
, .
1.8 Units:
Unit is defined as the numerical standard used to measure the qualitative dimension of a
physical quantity. When mass or force, length and time are accepted as basic quantities, then
all other quantities are secondary or derived quantities in terms of these basic quantities.
Four Fundamental Quantities
Quantity Dimensional
Symbol
SI Unit
Unit Symbol
Mass M Kilogram kg
Length L Meter M
Time T Second s
Force F Newton N
= N = kg m/ s
2
= N = kg m/s
2
1 Newton is the force required to give a mass of 1 kg an acceleration of 1 m/s
2
Metric System (SI)
SI System offers major advantages relative to the FPS system
Widely used throughout the world
Use one basic unit for length meter; while FPS uses many basic
units inch, foot, yard, mile
SI based on multiples of 10, which makes it easier to use & learn
whereas FPS is complicated, for example.
SI system 1 meter = 100 centimeters, 1 kilometer = 1000
meters, etc
FPS system 1 foot = 12 inches, 1 yard = 3 feet, 1 mile =
5280 feet, etc.
U.S. Customary System (FPS)
Force (lb) = mass (slugs) acceleration (ft/sec
2
)
Thus (slugs) = lb.sec
2
/ft
Therefore 1 slug is the mass which is given an acceleration of 1 ft/sec
2
when
acted upon by a force of 1 lb
Conversion of Units
Converting from one system of unit to another;
The standard value of g (gravitational acceleration)
SI units, = . /
FPS units, = . /
Units Prefixes
Multiple/Submultiple Exponential
Form
Prefix SI
Symbol
1 000 000 000 10
9
giga G
1 000 000 10
6
mega M
1 000 10
3
kilo k
0.001 10
-3
milli m
0.000 001 10
-6
micro
0.000 000 001 10
-9
nano n
1.9 Scalars and Vectors:
Scalars: only magnitude is associated.
Ex: time, volume, density, speed, energy, mass
Vectors : possess direction as well as magnitude, and must obey the parallelogram law of
addition (and the triangle law).
Equivalent Vector: =
(Vector Sum)
Ex: displacement, velocity, acceleration, force, moment, momentum
A Vector V can be written as: = Vn
V = magnitude of V
n = unit vector whose magnitude is one and whose direction coincides with that of V
Unit vector can be formed by dividing any vector, such as the geometric position vector, by
its length or magnitude
Vectors represented by Bold and Non-Italic letters, V (or rightwards arrows above, V
)
Magnitude of vectors represented by Non-Bold, Italic letters (V)
Free Vector: whose action is not confined to or associated with a unique
line in space e.g. Movement of a body without rotation.
Sliding Vector: has a unique line of action in space but
not a unique point of application e.g. External force on a
rigid body
Principle of Transmissibility states that the
conditions of equilibrium or conditions of motion
of a rigid body will remain unchanged if a force
acting at a give point of the rigid body is replaced by a force of the same magnitude
and same direction, but acting at a different point, provided that the two forces have
the same line of action.
Important in Rigid Body Mechanics
Fixed Vector: for which a unique point of application is
specified. e.g.: Action of a force on deformable body.
Vector Addition: Procedure for Analysis
Parallelogram Law (Graphical):
Resultant Force (diagonal)
Components (sides of parallelogram)
Algebraic Solution:
Using the coordinate system
Trigonometry (Geometry):
Resultant Force and Components from Law of Cosines and Law of Sines
Law of Sines: Consider the triangle ABC inscribed in a circle with centre O and radius .
From basic geometry, we know that
A = CAB = DOB.
From the right triangle DOB, we deduce
sin A =
=
By repeating the same argument for angles B and C, we
obtain the Law of Sines.
Law of Cosines: Consider the following triangle ABC.
From the right triangle ADC, we deduce
2
+
2
=
2
(i)
and =
= (ii)
From the right triangle BDC, we deduce
( )
2
+
2
=
2
2
=
2
2 +
2
+
2
(iii)
Substituting (i) and (ii) in (iii), we get
1.10 Force Systems:
Force: Magnitude (P), direction (arrow) and point of application (point A) is important
Change in any of the three specifications will alter the effect on the bracket.
Force is a Fixed Vector
In case of rigid bodies, line of action of force is important (not its point of application if we
are interested in only the resultant external effects of the force),
we will treat most forces as-
External effect: Forces applied (applied force); Forces exerted
by bracket, bolts, Foundation (reactive force).
Internal effect: Deformation, strain pattern permanent strain;
depends on material properties of bracket, bolts, etc.
Concurrent force:
Forces are said to be concurrent at a point if their lines of action intersect at that point.
(Apply Principle of Transmissibility)
Components and Projections of Force
Components of a Force are not necessarily equal to the Projections of the Force unless
the axes on which the forces are projected are orthogonal (perpendicular to each
other).
1
and
2
are the components of R and =
and
Problem 1.2
A barge is pulled by two tugboats. If
the resultant of the forces exerted by
the tugboats is 5000 lbf directed along
the axis of the barge, determine
a) the tension in each of the ropes
for = 45
o
,
b) the value of for which the tension in rope 2 is a minimum.
SOLUTION:
Find a graphical solution by applying the Parallelogram Rule for vector addition. The
parallelogram has sides in the directions of the two ropes and a diagonal in the
direction of the barge axis and length proportional to 5000 lbf.
Find a trigonometric solution by applying the Triangle Rule for vector addition. With
the magnitude and direction of the resultant known and the directions of the other two
sides parallel to the ropes given; apply the Law of Sines to find the rope tensions.
The angle for minimum tension in rope 2 is determined by applying the Triangle Rule
and observing the effect of variations in
Graphical solution - Parallelogram Rule with known
resultant direction and magnitude, known directions
for sides.
lbf 2600 lbf 3700
2 1
= = T T
Trigonometric solution - Triangle Rule with Law of Sines
=
105 sin
lbf 5000
30 sin 45 sin
2 1
T T
lbf 2590 lbf 3660
2 1
= = T T
The angle for minimum tension in rope 2 is
determined by applying the Triangle Rule and
observing the effect of variations in .
The minimum tension in rope 2 occurs when T
1
and
T
2
are perpendicular.
2
= 5000 sin 30
2
= 2500
1
= 5000 cos30
2
= 4330
= 90
30
= 60
1.11 Rectangular Components of a Force: Unit Vectors:
May resolve a force vector into perpendicular components so that
the resulting parallelogram is a rectangle.
and
are referred to as
rectangular vector components and
Define perpendicular unit vectors and which are parallel to the
x and y axes
Vector components may be expressed as products of the unit
vectors with the scalar magnitudes of the vector components.
and
1.12 Addition of Forces by Summing Components
Want to find the resultant of 3 or more concurrent forces.
S Q P R
+ + =
Resolve each force into rectangular components
= (
)+ (
)
The scalar components of the resultant are equal to
the sum of the corresponding scalar components of the
given forces.
=
+ + =
x
x x x x
F
S Q P R
=
+ + =
y
y y y y
F
S Q P R
To find the resultant magnitude and direction
x
y
y x
R
R
R R R
1 2 2
tan
= + = u
Problem 1.3
Four forces act on bolt A as shown.
Determine the resultant of the force on
the bolt.
Solution:
Steps:
- Resolve each force into rectangular components.
- Determine the components of the resultant by adding the corresponding force components.
- Calculate the magnitude and direction of the resultant.
1. Resolve each force into rectangular components
9 . 25 6 . 96 100
0 . 110 0 110
2 . 75 4 . 27 80
0 . 75 9 . 129 150
4
3
2
1
+
+
+ +
F
F
F
F
comp y comp x mag force
1 . 199 + =
x
R 3 . 14 + =
y
R
2. Determine the components of the resultant by adding the corresponding force components.
3. Calculate the magnitude and direction
2 2
3 . 14 1 . 199 + = R = 199.6 = 199.6
N 1 . 199
N 3 . 14
tan = o = 1 . 4 o
1.13 Equilibrium of a Particle
When the resultant of all forces acting on a particle is zero, the particle is in
equilibrium.
Newtons First Law: If the resultant force on a particle is zero, the particle will
remain at rest or will continue at constant speed in a straight line.
Particle acted upon by two forces:
- equal magnitude
- same line of action
- opposite sense
Particle acted upon by three or more forces:
- graphical solution yields a closed
polygon
- algebraic solution
0 0
0
= =
= =
y x
F F
F R
1.14 Rectangular Components in Space:
With the angles between and the axes,
( )
k j i
F
k j i F
k F j F i F F
F F F F F F
z y x
z y x
z y x
z z y y x x
u u u
u u u
u u u
cos cos cos
cos cos cos
cos cos cos
+ + =
=
+ + =
+ + =
= = =
is a unit vector along the line of action of F
and
z y x
u u u cos and , cos , cos are the direction cosines for F
.
Direction of the force is defined by
the location of two points,
( ) ( )
2 2 2 1 1 1
, , and , , z y x N z y x M
( )
d
Fd
F
d
Fd
F
d
Fd
F
k d j d i d
d
F F
z z d y y d x x d
k d j d i d
N M d
z
z
y
y
x
x
z y x
z y x
z y x
= = =
+ + =
=
= = =
+ + =
=
1
and joining vector
1 2 1 2 1 2
Problem 1.4
The tension in the guy wire is 2500 N.
Determine:
a) Components F
x
, F
y
, F
z
of the force acting
on the bolt at A,
b) the angles q
x
, q
y
, q
z
defining the direction
of the force
SOLUTION:
- Based on the relative locations of the points A and B, determine the unit vector
pointing from A towards B.
- Apply the unit vector to determine the components of the force acting on A.
- Noting that the components of the unit vector are the direction cosines for the vector,
calculate the corresponding angles.
Step 1: Determine the unit vector pointing from A
towards B.
( ) ( ) ( )
( ) ( ) ( )
m 3 . 94
m 30 m 80 m 40
m 30 m 80 m 40
2 2 2
=
+ + =
+ + =
AB
k j i AB
k j i
k j i
318 . 0 848 . 0 424 . 0
3 . 94
30
3 . 94
80
3 . 94
40
+ + =
|
.
|
\
|
+
|
.
|
\
|
+
|
.
|
\
|
=
Step 2: Determine the components of the force.
( )( )
( ) ( ) ( )k j i
k j i
F F
N 795 N 2120 N 1060
318 . 0 848 . 0 424 . 0 N 2500
+ + =
+ + =
=
- Step 3: Noting that the components of the unit vector are the direction cosines for the
vector, calculate the corresponding angles.
k j i
k j i
z y x
318 . 0 848 . 0 424 . 0
cos cos cos
+ + =
+ + = u u u
5 . 71
0 . 32
1 . 115
=
=
=
z
y
x
u
u
u