ME101: Engineering Mechanics (3 1 0 8)

2017-2018 (II Semester); Division I

Lecture - 5

Shyamanta M Hazarika
Department of Mechanical Engineering
s.m.hazarika@iitg.ernet.in

www.iitg.ernet.in/s.m.hazarika
1
Equilibrium of a Rigid Body
In Three Dimensions
• Six scalar equations are required to express the
conditions for the equilibrium of a rigid body in the
general three dimensional case.
 Fx  0  Fy  0  Fz  0
Mx  0 M y  0 Mz  0

• These equations can be solved for no more than 6

unknowns which generally represent reactions at supports
or connections.

• The scalar equations are conveniently obtained by applying the

vector forms of the conditions for equilibrium,
 F  0  M O   r  F   0
   

2
Reactions at Supports and Connections
For a Three-Dimensional Structure

3
Reactions at Supports and Connections
For a Three-Dimensional Structure

4
Categories of Equilibrium in 3D

5
Sample Problem 12

A 200-mm lever and a 240-mm-diameter pulley

are welded to the axle BE that is supported by
bearings at C and D.
If a 720-N vertical load is applied at A when the
lever is horizontal, determine (a) the tension in
the cord and (b) the reactions at C and D.
Assume that the bearing at D does not exert any
axial thrust.
6
Sample Problem 12

7
Distributed Forces
Centroids and Centers of Gravity
• The earth exerts a gravitational force on each of the particles forming
a body. These forces can be replace by a single equivalent force
equal to the weight of the body and applied at the center of gravity
for the body.

• The centroid of an area is analogous to the center of gravity of a

body. The concept of the first moment of an area is used to locate
the centroid.

• Determination of the area of a surface of revolution and the volume

of a body of revolution are accomplished with the Theorems of
Pappus-Guldinus.

8
Center of Gravity of a 2D Body
• Center of gravity of a plate • Center of gravity of a wire

 M y x W   xW
  x dW
 M y yW   yW
  y dW

9
Centroids and First Moments of Area
• Centroid of an area • Centroid of a line

x W   x dW x W   x dW
x At    x t dA x  La    x  a dL
x A   x dA  Q y x L   x dL
 first moment with respect to y yL   y dL
yA   y dA  Q x
 first moment with respect to x
10
11
12
13
Determination of Centroids by Integration
x A   xdA   x dxdy   xel dA • Double integration to find the first
moment may be avoided by defining dA
yA   ydA   y dxdy   yel dA as a thin rectangle or strip.

x A   xel dA x A   xel dA x A   xel dA

  x  ydx  ax
  a  x dx 
2r 1 
cos  r 2 d 
yA   yel dA 2 3 2 
yA   yel dA yA   yel dA
   ydx 
y
2   y a  x dx  2r 1 
 sin   r 2 d 
14
3 2 
First Moments of Areas and Lines
• An area is symmetric with respect to an axis BB’
if for every point P there exists a point P’ such
that PP’ is perpendicular to BB’ and is divided
into two equal parts by BB’.
• The first moment of an area with respect to a
line of symmetry is zero.
• If an area possesses a line of symmetry, its
centroid lies on that axis
• If an area possesses two lines of symmetry, its
centroid lies at their intersection.
• An area is symmetric with respect to a center O
if for every element dA at (x,y) there exists an
area dA’ of equal area at (-x,-y).
• The centroid of the area coincides with the
15
center of symmetry.
Centroids of Common Shapes of Areas

16
Centroids of Common Shapes of Areas

17
Centroids of Common Shapes of Lines

18
Composite Plates and Areas
• Composite plates
X W   x W
Y W   y W

• Composite area
X  A   xA
Y  A   yA

19
Sample Problem 13
For the plane area shown,
determine the first moments
with respect to the x and y axes
and the location of the
centroid.
20
SOLUTION:
• Divide the area into a triangle, rectangle,
and semicircle with a circular cutout.
• Calculate the first moments of each area
with respect to the axes.
• Find the total area and first moments of
the triangle, rectangle, and semicircle.
Subtract the area and first moment of the
circular cutout.
• Compute the coordinates of the area
centroid by dividing the first moments by
the total area.
Sample Problem 13

• Find the total area and first moments of the

triangle, rectangle, and semicircle. Qx  506.2  103 mm 3

• Subtract the area and first moment of the Q y  757.7  103 mm 3

circular cutout. 21
Sample Problem 13
• Compute the coordinates of the area
centroid by dividing the first moments by
the total area.

X   x A  757.7  103 mm 3

 A 13.828 103 mm 2
X  54.8 mm

Y   y A  506.2  103 mm 3

 A 13.828  103 mm 2
Y  36.6 mm
22
Theorems of Pappus-Guldinus

• Surface of revolution is generated by rotating a

plane curve about a fixed axis.

• Area of a surface of revolution is

equal to the length of the generating
curve times the distance traveled by
the centroid through the rotation.
A  2 yL

23
Theorems of Pappus-Guldinus

• Body of revolution is generated by rotating a plane

area about a fixed axis.

• Volume of a body of revolution is

equal to the generating area times
the distance traveled by the centroid
through the rotation.

V  2 y A

24
Distributed Loads on Beams

L • A distributed load is represented by plotting the load

W   wdx   dA  A per unit length, w (N/m) . The total load is equal to
0
the area under the load curve.

OP W   xdW • A distributed load can be replace by a concentrated

load with a magnitude equal to the area under the
OP  A   xdA  x A
L
load curve and a line of action passing through the
0 area centroid.

25
Sample Problem 14
SOLUTION:
• The magnitude of the concentrated load
is equal to the total load or the area under
the curve.
• The line of action of the concentrated
load passes through the centroid of the
area under the curve.
• Determine the support reactions by
A beam supports a distributed summing moments about the beam
load as shown. Determine the ends.
equivalent concentrated load
and the reactions at the
supports.

26
Sample Problem 15
SOLUTION:
• The magnitude of the concentrated load is equal to
the total load or the area under the curve.
F  18.0 kN

• The line of action of the concentrated load passes

through the centroid of the area under the curve.
63 kN  m
X  X  3.5 m
18 kN

27
Sample Problem 14
• Determine the support reactions by summing
moments about the beam ends.

 M A  0 : B y 6 m   18 kN 3.5 m   0
B y  10.5 kN

 M B  0 :  Ay 6 m   18 kN 6 m  3.5 m   0

Ay  7.5 kN

28
Center of Gravity of a 3D Body:

• Center of gravity G • Results are independent of body orientation,

 W j    W j  x W   xdW yW   ydW z W   zdW
 

rG   W j    r   W j 
    • For homogeneous bodies,

rGW   j    r W    j  W   V and dW   dV
   

x V   xdV yV   ydV z V   zdV

W   dW rGW   r dW
 
29
Centroids of Common 3D Shapes

30
31
32
33
Composite 3D Bodies
• Moment of the total weight concentrated at the
center of gravity G is equal to the sum of the
moments of the weights of the component parts.
X W   xW Y  W   yW Z W   zW

• For homogeneous bodies,

X V   xV Y  V   yV Z V   zV

34