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LECTURER: PUI PUI LEE

BASI C TEXT:
1 . R. C. HI BBELER, ENGI NEERI NG MECHANI CS: STATI CS,
1 2
TH
ED. , NEW J ERSEY, PRENTI CE HALL, 2007 .

REFERENCES:
1 . MERI AM, J . L. , ENGI NEERI NG MECHANI CS, VOL 1
STATI CS, 6
TH
ED ( SI EDI TI ON) . , J OHN WI LEY & SONS, 2008.
2. ANDREW PYTEL AND J AAN KI USALAAS. ENGI NEERI NG
MECHANI CS : STATI CS 2
ND
ED. THOMSON LEARNI NG, 2001 .

EGR1174-
Engineering Mechanics: Statics
Overview
1. General Principles & definitions

2. Fundamental concepts

3. Units of measurement, international systems of
units

4. Scalars and Vectors
1. General Principles & Definition
Statics and Dynamics are introductory engineering
mechanics courses, and they are among the first
engineering courses encountered by most students.

Therefore it is appropriate that we begin with a brief
exposition on the meaning of the term engineering
mechanics
1. General Principles & Definition
Physics the science that relates the properties of matter and
energy, excluding biological and chemical effects. Physics includes
the study of mechanics, thermodynamics, electricity and
magnetism, and nuclear physics.









Mechanics the branch of physics that considers the action of
forces or fluids that are at rest or in motion. Correspondingly, the
primary topics of mechanics are statics and dynamics.




Physics
Thermodynamics Mechanics Electricity
Deformable-Body
Rigid-Body
Fluid
Statics Dynamics
Magnetism
1. General Principles & Definition
Engineering- the application of the mathematical
and physical sciences (physics, chemistry and
biology) to the design and manufacture of items that
benefit humanity.

Engineering Mechanics the branch of engineering
that applies the principles of mechanics to
mechanical design (i.e. any design that must take
into account the effect of forces)

Introduction to statics
Mechanics is the oldest of the physical sciences.

The earliest recorded writings in mechanics are those
of Archimedes (287-212 B.C.) on the principle of the
lever and the principle of buoyancy.

Substantial progress came later with the formulation
of the laws of vectors combination of forces by
Stevinus (1548-1620), who also formulated most of
the principles of statics.
Fundamental Concept
Four basic quantities are used throughout mechanics

1. Length- used to locate the position of a point in space and thereby describe the
size of a physical system. It can be used to define distances and geometry

2. Time- the measure of the succession of events. Although the principles of statics
are time independent, this quantity plays an important role in Dynamics

3. Mass- a measure of the inertia of body, which is its resistance to the change of
velocity. Mass can also be thought of as the quantity of matter in a body. The
mass of a body affects the gravitational attraction force between it and other
bodies. This force appears in many applications in statics

4. Force- the action of one body on another. A force tends to move a body in the
direction of its action. The action of a force is characterised by its magnitude, by
the direction of its action, and by its point of application. Force is a vector
quantities.

Fundamental Concepts
3 Idealisation are used in mechanics in order to simplify application of the theory.

1. Particle- a particle has a mass, but a size that can be neglected.
1. i.e. The size of the earth is insignificant compared to the size of its orbit, thus the size of the
earth can be modeled as a particle when studying its orbital motion.
2. When a body is idealised as a particle, the principles of mechanics reduce to a rather simplified
form since the geometry of the body will not be involved in the analysis of the problem

2. Rigid Body- a rigid body can be considered as a combination of a large number of
particles in which all the particles remain at a fixed distance from one another,
both before and after applying a load.
1. This is important because the material properties of any body that is assumed to be rigid will
not have to be considered when studying the effects of forces acting on the body. In most cases,
the actual deformations occurring in structures, machines, mechanisms are relatively small,
thus the rigid-body assumption is suitable for analysis

3. Concentrated Force- it represents the effect of a loading which is assumed to act
at a point on a body.
1. We can represent a load by a concentrated force, provided the area over which the load is
applied is very small compared to the overall size of the body. I.e. the contact force between a
wheel and the ground.
2.Fundamental Concepts
Engineering mechanics is formulated on the basis of Newtons
three laws of motion.

First law.
Particle originally at rest, or moving in a straight line with constant velocity,
tends to remain in this state provided the particle is not subjected to an
unbalanced force.

Second law.
A particle acted upon by an unbalanced force F experiences an acceleration a
that has the same direction as the force and a magnitude that is directly
proportional to the force.

Third law.
The mutual forces of action and reaction between two particles are equal,
opposite, and collinear.
2.Fundamental concept
Shortly after formulating his 3 law, Newton postulated a law
governing the gravitational attraction between any two particles.

F = Gm1m2/r
G= universal constant gravitation, according to experimental evidence,
G=66.73X10^-12 m/(kgs)
m1 m2 mass of each of the two particles
r= distance between the two particles
W= Gm1Me/r
m1 = weight of a particle
assume earth to have constant density and mass of m2=Me
r = distance between the earths center and the particle
W=mg
By comparison with F=ma, we can see that g is the acceleration due to gravity.
Since it depends on r, then the weight of a body is not an absolute quantity.
Instead, its magnitude is determined from where the measurement was made.
For most engineering calculations, however, g is determined at sea level and at a
latitude of 45, which is considered the standard location
3. Units of measurement
The four basic quantities are related by Newtons second law of
motion, F=ma

SI units. International Systems of Units defines length in Meters (m),
time in Seconds (s), mass in Kilograms (kg), force in Newton (N).

F= ma,
= kg (m/s)
= N

SI symbols and Prefixes:
1000 k, kilo
1000 000 M, mega
1000 000 000 G, giga
0.001 m, milli
0.000 001 , micro
0.000 000 001 n, nano
UNI T OF MEASUREMENT
GRAVI TATI ONAL ATTRACTI ON
Exercise
Exercise
1. If a car is travelling at 88km/h, determine its speed in meter per seconds.

2. Evaluate each of the following and express with SI units having an
appropriate prefix
a. (50mN)(6GN)
b. (400mm)(0.6 MN)
c. 45 MN/900Gg

3. Two particles have a mass of 8kg and 12kg, respectively. If they are 800mm
apart, determine the force of gravity acting between them. Compare this
result with the weight of each particle.

4. Use Newtons law of universal gravitation to calculate the weight of a 70kg
person standing on the surface of the earth. Then repeat the calculation
by using W=mg and compare your two results. (Given R= 6371100, me=
5.976 X10^24)

4. Scalars & Vectors
2 kinds of quantities in mechanics- Scalars & Vectors

Scalar quantities are those with which only a magnitude
is associated. I.e. time, volume, density, speed, energy,
mass

Vector quantities possesses direction as well as
magnitude, and must obey the parallelogram law of
addition. I.e. displacement, velocity, acceleration, force,
moment, and momentum

For ex: Speed is a scalar. It is the magnitude of velocity,
which is a vector
4. Scalars & Vectors
Vectors representing physical quantities can be classified
as;
Free vector is one whose action is not confined to a unique line in
space. I.e. if a body moves without rotation, then the movement of any
point in the body may be taken as vector. This vector describes equally
well the direction and magnitude of the displacement of every point in
the body. Thus, we may represent the displacement of such a body by
a free vector
Sliding vector has a unique line of action is space but not a unique
point of application. i.e. when an external force acts on a rigid body,
the force can be applied at any point along its line of action without
changing its effect on the body as a whole.
Fixed vector is one for which a unique point of application is
specified. The action of a force on a deformable body must be
specified by a fixed vector at the point of application of the force.
4. Scalars & Vectors
The length of the arrow represents the magnitude of
the vector

The angle between the vector and a fixed axis defines
the direction of its line of action.

The head of the arrow indicates the sense of direction
of the vector





-V
V

In scalar equation, the symbol will appear in
lightface italic type, V.
Boldface type is used for vector quantities, V

When writing vector equation, always be certain to
preserve the mathematical distinction between
vectors and scalars. Use distinguishing mark for each
vector quantity, I.e. V or V to take the place of
boldface type in print.
4. Scalars & Vectors
4. Scalars & Vectors
Vector must obey the parallelogram law of addition.




V1 and V2 treated as free vectors, may be replaced by
their equivalent vector V, which is diagonal of the
parallelogram formed by V1 and V2 as its two sides.
The combination is called the vector sum
V = V1 + V2 (vector)
V V1 + V2 (scalar)
Parallelogram can then be reduced to a triangle, which
represents the triangle rule


4. Scalars & Vectors
The two vectors V1 and V2 again treated as free vectors,
may also be added head-to-tail by the triangle law to
obtain the identical vector sum V




The difference V1 V2 is easily obtained by adding
V2 to V1, where either the triangle or parallelogram
procedure may be used.
V = V1 V2, where the minus sign denotes vector
subtraction
4. Scalars & Vectors
Problems that involve the addition of two forces can
be solved as follows:
Step 1. Parallelogram Law
Step 2. Trigonometry
Cosine law:
C= A + B - 2AB cos C

Sine Law:
A/ sin a = B/sin b = c/sin c
4. Scalars & Vectors
When a force is resolved into two components along
the x and y axes, the components are then called
Rectangular components




Then,
Example 1
Figure below show two position vectors, the
magnitudes of which are A=60m, and B=100m. A
position vector is a vector drawn between two points
in space. Determine the resultant R=A+B using the
following methods
(1) analytically, using triangle law
(2) graphically, using the triangle law
30
70
A
B
Example 2
The vertical force P of magnitude 100kN is applied to
the frame shown in figure below. Resolve P into
components that are parallel to the members AB and
AC of the truss
A
P
B
C
70
35
Example 3
4.2 Scalar notation
The rectangular components of force V shown in
figure below are found using the parallelogram law,
so that V= Vx + Vy

Because these components form a right triangle,
their magnitudes can be determined from
Vx = Vcos
Vy = V sin
4.3 Cartesian Vector Notation
It is also possible to represent the x and y
components of a force in terms of Cartesian unit
vectors i and j

Each of these unit vectors has a dimensionless
magnitude of one, and so they can be used to
designate the directions of the x and y axes

V = Vx i + Vy j
4.4 Coplanar Force Resultants
We can use either Cartesian Vector Notation or the
Scalar notation to determine the resultant of several
coplanar forces

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4.4 Coplanar Forces
Scalar Notation
x and y axes are designated positive and negative
Components of forces expressed as algebraic
scalars
u u sin and cos F F F F
F F F
y x
y x
= =
+ =
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4.4 Coplanar Forces
Cartesian Vector Notation
Cartesian unit vectors i and j are used to designate
the x and y directions
Unit vectors i and j have dimensionless magnitude
of unity ( = 1 )
Magnitude is always a positive quantity,
represented by scalars F
x
and F
y


j F i F F
y x
+ =
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4.4 Coplanar Forces
Coplanar Force Resultants
To determine resultant of several coplanar forces:
Resolve force into x and y components
Addition of the respective components using scalar
algebra
Resultant force is found using the parallelogram
law
Cartesian vector notation:

j F i F F
j F i F F
j F i F F
y x
y x
y x
3 3 3
2 2 2
1 1 1
=
+ =
+ =
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4.4 Coplanar Forces
Coplanar Force Resultants
Vector resultant is therefore



If scalar notation are used

( ) ( )j F i F
F F F F
Ry Rx
R
+ =
+ + =

3 2 1
y y y Ry
x x x Rx
F F F F
F F F F
3 2 1
3 2 1
+ =
+ =
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4.4 Coplanar Forces
Coplanar Force Resultants
In all cases we have



Magnitude of F
R
can be found by Pythagorean Theorem

=
=
y Ry
x Rx
F F
F F
Rx
Ry
Ry Rx R
F
F
F F F
1 - 2 2
tan and = + = u
* Take note of sign conventions
Example 4

Using method
(1) Scalar notation
(2) Cartesian Vector Notation
Example 5
Combine the two forces P and T, which act on the
fixed structure at B, into a single equivalent force R
P=800 N
T= 600 N

A
C D
B
60
6m
3m
Using
- Graphical Method,
- Geometric method,
- Algebraic method (xy
coordinate)
Example 6

Using method
(1) Scalar notation
(2) Cartesian Vector Notation
Example 7

5. Cartesian Vectors
In particularly 3-D problems, it is convenient to
express the rectangular components of V in terms of
unit vectors i , j , k, which are vector in x-, y- and z-
direction.

Cartesian Vector
Separating magnitude and direction
Simplify vector algebra






V = Vx + Vy + Vz
5. Cartesian Vectors
Magnitude of a Cartesian Vector


Direction of a Cartesian Vector
Cos = Vx/ V,
Cos = Vy/ V
Cos = Vz/ V
An easy way of obtaining these direction cosines is to
form a unit vector nv in the direction of V. nv will have a
magnitude of one and be dimensionless provided V is
divided by its magnitude.


5. Cartesian Vectors
A vector V may be expressed mathematically by
multiplying its magnitude V by a vector n whose
magnitude is one and whose direction coincides with
that of V. The n is called a unit vector.


nv Represent the direction of cosines of V
nv = Cos i + Cos j + Cos k
Cos + Cos + Cos = 1

n = V/ V
Example 8

Objective 2
To express force and position in Cartesian vector
form and explain how to determine the vectors
magnitude and direction.

2 D
3 D
Example 9

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Solution I
Scalar Notation:


| =
+ =
E =
=
=
E =
N
N N F
F F
N
N N F
F F
Ry
y Ry
Rx
x Rx
8 . 582
45 cos 400 30 sin 600
:
8 . 236
45 sin 400 30 cos 600
:


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Solution I
Resultant Force



From vector addition, direction angle is

( ) ( )
N
N N F
R
629
8 . 582 8 . 236
2 2
=
+ =

9 . 67
8 . 236
8 . 582
tan
1
=
|
.
|

\
|
=

N
N
u
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Solution II
Cartesian Vector Notation
F
1
= { 600cos30i + 600sin30j } N
F
2
= { -400sin45i + 400cos45j } N

Thus,
F
R
= F
1
+ F
2

= (600cos30N - 400sin45N)i
+ (600sin30N + 400cos45N)j
= {236.8i + 582.8j}N
The magnitude and direction of F
R
are determined in
the same manner as before.

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2.5 Cartesian Vectors
Right-Handed Coordinate System
A rectangular or Cartesian coordinate system is
said to be right-handed provided:
Thumb of right hand points in the direction of the
positive z axis
z-axis for the 2D problem would be perpendicular,
directed out of the page.


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2.5 Cartesian Vectors
Rectangular Components of a Vector
A vector A may have one, two or three rectangular
components along the x, y and z axes, depending on
orientation
By two successive application of the parallelogram law
A = A + A
z
A = A
x
+ A
y
Combing the equations,
A can be expressed as
A = A
x
+ A
y
+ A
z

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2.5 Cartesian Vectors
Unit Vector
Direction of A can be specified using a unit vector
Unit vector has a magnitude of 1
If A is a vector having a magnitude of A 0, unit
vector having the same direction as A is expressed
by u
A
= A / A. So that

A = A u
A

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2.5 Cartesian Vectors
Cartesian Vector Representations
3 components of A act in the positive i, j and k
directions

A = A
x
i + A
y
j + A
Z
k

*Note the magnitude and direction
of each components are separated,
easing vector algebraic operations.
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2.5 Cartesian Vectors
Magnitude of a Cartesian Vector
From the colored triangle,

From the shaded triangle,

Combining the equations
gives magnitude of A

2 2 2
z y x
A A A A
+ + =
2 2
'
y x
A A A
+ =
2 2
'
z
A A A
+ =
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2.5 Cartesian Vectors
Direction of a Cartesian Vector
Orientation of A is defined as the coordinate
direction angles , and measured between the
tail of A and the positive x, y and z axes
0 , and 180
The direction cosines of A is
A
A
x
= o cos
A
A
y
= | cos
A
A
z
= cos
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2.5 Cartesian Vectors
Direction of a Cartesian Vector
Angles , and can be determined by the inverse
cosines
Given
A = A
x
i + A
y
j + A
Z
k

then,
u
A
= A /A = (A
x
/A)i + (A
y
/A)j + (A
Z
/A)k

where
2 2 2
z y x
A A A A + + =
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2.5 Cartesian Vectors
Direction of a Cartesian Vector
u
A
can also be expressed as
u
A
= cosi + cosj + cosk

Since and u
A
= 1, we have


A as expressed in Cartesian vector form is
A = Au
A

= Acosi + Acosj + Acosk
= A
x
i + A
y
j + A
Z
k

2 2 2
z y x
A A A A + + =
1 cos cos cos
2 2 2
= + + | o
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2.6 Addition and Subtraction of Cartesian Vectors
Concurrent Force Systems
Force resultant is the vector sum of all the forces in
the system

F
R
= F = F
x
i + F
y
j + F
z
k
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Example 10
Express the force F as Cartesian vector.
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Solution
Since two angles are specified, the third angle is
found by




Two possibilities exit, namely
( )

120 5 . 0 cos
1
= =

o
( )

60 5 . 0 cos
1
= =

o
( ) ( )

5 . 0 707 . 0 5 . 0 1 cos
1 45 cos 60 cos cos
1 cos cos cos
2 2
2 2 2
2 2 2
= =
= + +
= + +
o
o
| o
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Solution
By inspection, = 60 since F
x
is in the +x
direction
Given F = 200N
F = Fcosi + Fcosj + Fcosk
= (200cos60N)i + (200cos60N)j
+ (200cos45N)k
= {100.0i + 100.0j + 141.4k}N
Checking:
( ) ( ) ( ) N
F F F F
z y x
200 4 . 141 0 . 100 0 . 100
2 2 2
2 2 2
= + + =
+ + =
Example 10

Note: +ve or -ve sign
MUST take into account
when substituting into
Cos , cos and cos
Example 11

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2.7 Position Vectors
x,y,z Coordinates
Right-handed coordinate system
Positive z axis points upwards, measuring the height of
an object or the altitude of a point
Points are measured relative
to the origin, O.
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2.7 Position Vectors
Position Vector
Position vector r is defined as a fixed vector which
locates a point in space relative to another point.
E.g. r = xi + yj + zk
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2.7 Position Vectors
Position Vector
Vector addition gives r
A
+ r = r
B

Solving
r = r
B


r
A
= (x
B
x
A
)i + (y
B
y
A
)j + (z
B
z
A
)k
or r = (x
B
x
A
)i + (y
B
y
A
)j + (z
B
z
A
)k
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2.7 Position Vectors
Length and direction of cable AB can be found
by measuring A and B using the x, y, z axes
Position vector r can be established
Magnitude r represent the length of cable
Angles, , and represent the direction of the
cable
Unit vector, u = r/r
Example 12

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Solution
Position vector
r = [-2m 1m]i + [2m 0]j + [3m (-3m)]k
= {-3i + 2j + 6k}m

Magnitude = length of the rubber band


Unit vector in the director of r
u = r /r
= -3/7i + 2/7j + 6/7k
( ) ( ) ( ) m r 7 6 2 3
2 2 2
= + + =
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Solution


= cos
-1
(-3/7) = 115
= cos
-1
(2/7) = 73.4
= cos
-1
(6/7) = 31.0
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2.8 Force Vector Directed along a Line
In 3D problems, direction of F is specified by 2
points, through which its line of action lies
F can be formulated as a Cartesian vector

F = F u = F (r/r)

Note that F has units of forces (N)
unlike r, with units of length (m)
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2.8 Force Vector Directed along a Line
Force F acting along the chain can be presented
as a Cartesian vector by
- Establish x, y, z axes
- Form a position vector r along length of chain
Unit vector, u = r/r that defines the direction of
both the chain and the force
We get F = Fu

Example 13

Example 14

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