Engineering Mechanics Module 1

Mechanics:

Mechanics: It is the branch of science which deals with the study of the effect of a force

system acting on a particle or a rigid body, which may be at rest or in motion. The purpose

of mechanics is to explain and predict physical phenomena and thus to lay the foundation

for engineering applications.

Classification of Mechanics

Mechanics can be classified broadly into the following

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Statics: It is the study of the effect of a force system acting on a particle or rigid body which

is at rest.

Dynamics: It is the study of the effect of a force system acting on a particle or a rigid body

which is in motion. It can also be stated as the study of the geometry of motion with or

without reference to the cause of motion.

It must be noted that

1. The study of geometry of motion means the relationship between displacement, velocity,

acceleration and time.

2. Concerning the cause of motion, mass and the force causing the motion are

considered.

The sub-branches of dynamics are kinematics and kinetics.

Kinematics: It is the study of the geometry of motion without reference to the cause of

motion (i.e. mass and force causing motion are not considered).

Kinetics: It is the study of the geometry of motion about the cause of motion (i.e. mass and

force causing motion are considered).

Basic Concepts:

Matter: It is anything that occupies space and has physical existence. It possesses mass and
offers resistance to external forces.
Particle: It is defined as an object whose mass is concentrated at point. It is infinitely small
in size, and mass is irrelevant to its motion.
Body: A body is a portion of matter which occupies finite space and consists of several
particles. It has definite mass.

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Rigid Body: A rigid body does not change its shape or size when subjected to external
forces. In real situations, all bodies deform under the action of external forces, however
small it may be. But if the deformation is so small that if can be neglected for all practical
purposes, then it is considered as a rigid body

Deformable Body: A deformable body changes its shape or size under the action of
external forces. Such bodies are also called elastic bodies. They regain their original shape
after the external forces are removed.

Space : It is the region which extends in all directions and contains everything in it. The
concept of space is associated with the notion of the position of point P. The position of P
can be defined by a fundamental quantity length, measured from a certain reference point,
called origin, in three given directions. These lengths are known as the coordinates of point
P (x,y,z).

Time : It is the measure of duration between two successive events. Time is the basic

quantity involved in the analysis of dynamics but not in statics.

Matter : It is that which occupies space and can be perceived by our senses.

Mass : It is the quantity of matter contained in a body. These quantities do not change on
account of the position occupied by the body. The force of attraction exerted by the Earth
on two different bodies with equal mass will be in the same manner. Mass is the property
of body which measures its resistance to a change of motion. Its SI unit is kg.

Scalar : A physical quantity which requires only magnitude for its complete description is
known as a scalar. For example, distance, area, volume, mass, work, power, energy, time,
density, speed, etc. Scalar quantities are added and subtracted by simple arithmetic
methods.

Vector : A physical quantity which requires both magnitude and direction for its complete
description is known as a vector. For example, force, displacement, velocity, acceleration,
momentum, moment, couple, torque, impulse, weight, etc.

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Laws of Mechanics (Fundamental Principles)

The study of mechanics depends upon a few fundamental principles which are based on
experimental evidence.
1. Newton's First Law of Motion: Everybody continues in its state of rest or of uniform
motion in a straight line unless an external force acts on it. Newton's first law defines the
principle of the equilibrium of forces, which is the main topic of concern in statics.
2. Newton's Second Law of Motion: The rate of change of momentum of a body is directly
proportional to the force acting on it and takes place in the direction of the applied force.

where F is the resultant force acting on a body of mass m moving with acceleration a.
As per Newton's second law, the acceleration of a particle is proportional to the resultant
force acting on it and is in the direction of this force (F = ma). This law forms the basis for
most of the analysis in dynamics.

3. Newton's Third Law of Motion: To every action, there is an equal and opposite reaction.
The forces of action and reaction between interacting bodies are equal in magnitude,
opposite in direction and collinear. It means that forces always occur in pairs of equal and
opposite forces.

4. Newton's Law of Gravitation : The force of attraction between any two bodies in the
universe is directly proportional to the product of their masses and inversely proportional
to the square of the distance between them. For example, if m1 2 and m are the masses of
two bodies and r is the distance between them, then the force of attraction F between them
is given by

where G is the universal gravitational constant.

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Principle of Transmissibility of Force: It states that the condition of equilibrium or

uniform motion of a rigid body will remain unchanged if the point of application of a force
acting on a rigid body is transmitted to act at any other point along its line of action.

Refer to Fig. A force F acting on the rigid body at point A can be replaced by the same force
F at point B, provided points A and B lie on the same line of action of the force. Though the
nature changes, as shown from PUSH to PULL, the external effect remains unchanged due
to the principle of transmissibility of force.

Law of Parallelogram of Force: If two forces acting simultaneously on a body at a point

are represented in magnitude and direction by two adjacent sides of a parallelogram, then

their resultant is represented in magnitude and direction by the diagonal of a parallelogram

which passes through the point of intersection of the two sides representing the forces.

Refer to Fig.

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Classification of Force System

Force System : When several forces act simultaneously on a body then they are said to
form a force system.
Depending upon whether the line of action of all the forces acting on the body lies in the
same plane or in a different plane, the force system may be classified as follows:
(i) Coplanar Force System : If the line of action of all the forces in the system lies on the
same plane then it is called a coplanar force system.
(ii) Non-coplanar Force System: If the line of action of all the forces in the system do not
lie on the same plane then it is called a non-coplanar force system.
These two force systems can be subclassified into three groups:
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(a) Concurrent Force System: If the line of action of all the forces in the system passes
through single point, then it is called a concurrent force system. It can be further
subclassified into coplanar concurrent force and non-coplanar concurrent force.

(b)
Parallel Force System if the line f
action of all the forces in the system
are parallel to each other then it is
called a parallel force system. Parallel
force system can be further
subclassified into two groups, like and
unlike

Principle of superposition of forces

This principle states that the action of a given system of forces on a
rigid body will in no way be changed if another system of forces in
equilibrium is added or subtracted.
Consider a force F acting on a rigid body at point A as shown in Fig. If
two equal and opposite forces, each equal to F, are applied along the
line of action of F at another point B, it shall in no way change or affect
the equilibrium of the body, as they cancel each other.

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Principle of transmissibility of force

This principle states that if a force acts at any point of a rigid body, it may be considered
to act at any other point in its line of action, provided the point is rigidly connected with
the body.
Consider a force F acting at a point A of a rigid body, as shown in Fig. Let us apply two equal
and opposite forces F1 and F2, such that F1 = F2 = F, at another point B located on the body.
along the line of action of F. The forces F1 and F2 will not disturb the equilibrium of the
body being equal and opposite, cancel each other. Now forces F and F 1 being equal and
opposite cancel each other, leaving a force = F2 = F at the point B. This proves the
principle of transmissibility of a force.
Limitations: This principle has the following limitations:
Consider a prismatic bar AB, which is acted upon by two equal and opposite coaxial forces
P1 and P2 as shown in Fig.
Resultant Force is a single force which replaces the given force system, having the same
effect. The process of finding the resultant of any number of forces is called the
composition of forces
Composition of Forces
Forces may be combined (added) to obtain a single force which produces the same effect
as the original system of forces. This single force is known as the resultant force. The
process of finding the resultant of forces is called the composition of forces.
Resolution of Force: The process of breaking the force into several components, which are
equivalent to the given forces, is called resolution of force.
Force is a vector quantity. The method of addition of forces (vectors) is based on the
parallelogram law.

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Parallelogram Law: The resultant of any two non-collinear concurrent forces may be
found by this law which states that "If two forces acting simultaneously on a body at a point
are represented in magnitude and direction by two adjacent sides of a parallelogram, then
their resultant is represented in magnitude and direction by the diagonal of parallelogram
which passes through the point of intersection of the two sides representing the forces".

Problem: 1

Problem: 2

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Problem: 3

Problem: 4

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Problem: 5

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Problem: 6

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Resolution of Force into Rectangular Components of Force

Usually, we require rectangular components of force. The process of breaking the force into
mutually perpendicular components which are equivalent to the given force is called
rectangular components of force.

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Problem: 7

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Problem: 8
The top end of the vertical boot is connected by two cables
having tension T1 = 500 N and T2 = 1500 N, as shown in Fig. The
third cable AB, is used as a guy wire. Determine the tension in
cable AB if the resultant of the three concurrent forces acting at
A is vertical. Also, find the resultant.

Problem: 9
Determine the magnitude and direction of forces F1 and F2 , shown in Fig when the
resultant of the given force system is found to be 800 N along positive x-axis.

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Problem: 10
A body is acted upon by forces as below. Find the
resultant of these forces.

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Problem: 11
A system of four forces acting at a point on a body is as shown in Fig. 2.8 (a). Determine the
resultant.

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Problem: 12
The four coplanar forces are acting at a point as shown in Fig. 2.21. Determine the resultant
in magnitude and direction analytically

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Problem: 13
For the system shown, determine
(i) the required value of a if the resultant of three forces is to be vertical and
(ii) the corresponding magnitude of the resultant.

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Problem: 14

Problem: 15

Problem: 16

Problem: 17

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Problem: 18

Problem: 19

Problem: 20

Problem: 21

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Problem: 22
Determine the x and y components of each of the forces shown in the figure and
also find the magnitude and direction of the resultant.

Problem: 23
Knowing that the tension in cable BC is 725 N, determine the resultant
of the three forces exerted at point B of beam AB.

Problem: 24

Determine the x and y components of each of the forces shown in the figure, and
also find the magnitude and direction of the resultant.

Problem: 25
Determine the components of the 2-kN force along the oblique axes a
and b. Determine the projections of F onto the a and b-axes.

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Force Vectors
Many physical quantities in engineering mechanics are measured using either scalar or vector
quantities.
Scalar. A scalar is any positive or negative physical quantity that can be completely specified by its
magnitude. Examples of scalar quantities include length, mass, and time.
Vector. A vector is any physical quantity that requires both a magnitude and a direction for its
complete description. Examples of vectors
encountered in statics are force, position, and
moment. A vector is shown graphically by an
arrow. The length of the arrow represents the
magnitude of the vector, and the angle θ between
the vector and a fixed axis defines the direction of
its line of action. The head or tip of the arrow
indicates the sense of direction of the vector

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. They are called unit vectors because they have a dimensionless
magnitude of 1, and so they can be used to designate the directions of the x and y axes, respectively.
Since the magnitude of each component of F is always a positive quantity, which is represented by the
(positive) scalars Fx and Fy, then we can express F as a Cartesian vector,
F = F x i + Fy j

Coplanar Force Resultants. We can use either of the two methods just described to determine the
resultant of several coplanar forces, i.e., forces that all lie in the same plane.

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Using Cartesian vector notation, each force is first

represented as a Cartesian vector, i.e.,

F1 = F1x i + F1y j
F2 = -F2x i + F2y j
F3 = F3x i - F3y j

Cartesian Vectors
The operations of vector algebra, when applied to solving problems in three dimensions, are greatly
simplified if the vectors are first represented in Cartesian vector form.

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Rectangular Components of a Force in Space

Case 1

The direction of F within the plane is defined by the angle θy that F forms with the y axis and
plane passes through the vertical y axis; its orientation is defined by the angle ϕ it forms with
the xy plane

The direction of F within the plane is defined by the

angle θy that F forms with the y axis. We can resolve the force F into a vertical
component Fy and a horizontal component Fh; this operation, shown in Fig. 2.25b,
is carried out in plane OBAC according to the rules developed earlier. The
corresponding scalar components are
Fy = F cos θ y
Fh = F sin θy
However, we can also resolve Fh into two rectangular components, Fx and Fz,
along the x and z axes, respectively. This operation, shown in Fig. c, is carried out
in the xz plane. We obtain the following expressions for the corresponding scalar
components:
Fx = Fh cos ϕ = F sin θy cos ϕ
Fz = Fh sin ϕ = F sin θy sin ϕ

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Case 2

The relationship between the force F and its three components Fx, F y, and Fz is more
easily visualized if we draw a “box” having Fx, Fy, and F z for edges, as shown in Fig.
The force F is then represented by the main diagonal OA of this box. Figure 2.26b shows
the right triangle OAB used to derive the first of the formulas Fy = F cos θy. In Fig. and
two other right triangles have also been drawn: OAD and OAE. These triangles occupy
positions in the box comparable with that of triangle OAB. Denoting by θx and θz,
respectively, the angles that F forms with the x and z axes, we can derive two formulas
similar to Fy = F cos θ y. We thus write

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Substituting the values to the expressions obtained for Fx, Fy, and Fz in Eq we have
F = F (cos θxi + cos θyj + cos θzk)

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Case 3
Force is Defined by its Magnitude and Two Points on its Line of Action.

The direction of a force F is defined by the coordinates of two points, M(x1, y1, z1) and
N(x2, y2, z2), located on its line of action as shown in the figure.

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Solved Example 1
A force of 48 kN passes through two points A (2, –4, 3) and B (–5, 2, 1) in space. Represent the force
in terms of unit vectors i , j and k.

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Solved Example 2

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Solved Example 3

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Solved Example 4

Express the force F shown in Fig as a Cartesian vector. Determine the x, y, z

components of F and its coordinate direction of the resultant force 100 N

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Solved Example 5
Two forces act on the hook shown in Fig. Specify the magnitude of F2 and its coordinate direction angles so that the
resultant force FR acts along the positive y-axis and has a magnitude of 800 N.

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Solved Example 6

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PROBLEMS FOR EXERCISE

Exercise 1

Exercise 2

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Exercise 3

Referring to Fig. (a), determine

(1) the rectangular representation of the
position. vector A; and
(2) the angles between A and each of the
positive coordinate axes.

Exercise 4

Obtain the rectangular representation of the

force P, given that its magnitude is 30 N

Exercise 5

Exercise 6
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(a)

(b)
Find the angles between the force F = 1200i + 800j - 1500k N and the
x-, y-, and z-axes.

Exercise 7

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Exercise 8
The force F acts on the bracket as shown. If F =400 N, 𝛽 = 600 𝑎𝑛𝑑 𝛾 = 450 .
Determine the x, y, z components of F.

Exercise 9
The force F acts on the bracket within the octant shown. If the magnitudes of the x and
z components of F are 𝐹𝑥 = 300𝑁 𝑎𝑛𝑑 𝐹𝑧 = 600𝑁 respectively, and 𝛽 = 600
determine the magnitude of F and its y component. Also, find the coordinate direction
angles 𝛼 𝑎𝑛𝑑 𝛾 .

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Exercise 10
Express each force in Cartesian vector form and then determine the resultant force.
Find the magnitude and coordinate direction of the resultant force.

Exercise 11
The two forces F1 and F2 have a resultant force of FR= [ - 100k] N. Determine the
magnitude and coordinate direction angles of F2.

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Exercise 12
Determine the coordinate direction angles of the force F1.

Exercise 13
The bracket is subjected to the two forces shown. Express each force in Cartesian
vector form and then determine the resultant force. Find the magnitude and
coordinate direction angles of the resultant force. The axis 't' lies on the X-Y plane.

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Exercise 14
Determine the magnitude and
coordinate direction angles of the
resultant force, and sketch this vector
on the coordinate system.

Exercise 15

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Exercise 16

Exercise 17
Express each force in Cartesian vector form.

Exercise 18
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Exercise 19

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Exercise 20

Exercise 21

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Moment of Force

The rotational effect produced by a force is known as the

moment of the force. In other words, the tendency of a
force to rotate a rigid body about an axis is measured by
the moment of the force about that axis. Consider a rigid
body which is acted upon by a force F as shown in Fig.
Let an axis perpendicular to the plane of the paper pass
through point O. The force F will have a tendency to rotate
the body about the axis through O.
The moment of a force has not only magnitude but also a
direction. This direction is perpendicular to the plane of the paper. The force will try to
rotate the body in anticlockwise or clockwise, depending upon the relative position of the
force and its axis.

We can assume the anticlockwise moment as positive and the clockwise moment as
negative.
The moment of the force about an axis through O is MO and is given as the product of the
magnitude of the force F and the perpendicular distance d from O to the line of action of
the force F.

Here point O is called the moment centre and d is called the moment arm.

Solved Example 1

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A 75 N vertical force is applied to the end of a force 3 m long

which is attached to a shaft at O as shown in Fig. Determine
(i) the moment of the 75 N force about O,
(ii) the magnitude of the horizontal force applied at A which
creates the same moment about O and
(iii) the smallest force applied at A which creates the same
moment about O.
(iv) How far from the shaft at O a 200 N vertical force must act
to create the same moment about O ?

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Equilibrium of A System of Coplanar Forces

The equilibrium of a rigid body means the body is in a state where it remains at rest or
continues to move with uniform velocity because the net effect of all external forces and
moments (torques) acting on it is zero.

Equilibrant is the force which, when applied to a body acted by the concurrent force
system, keeps the body in equilibrium.
A single force which brings the system to equilibrium, thus equilibrant is equal in
magnitude, opposite in direction and collinear to the resultant force.

Free Body Diagram (FBD)

The Free Body Diagram (FBD) is a sketch of the body showing all active and reactive
forces that acts on it after removing all supports with consideration of geometrical angles
and distance given.
To investigate the equilibrium of a body, we remove the supports and replace them by the
reactions which they exert on the body.
The first step in equilibrium analysis is to identify all the forces that act on the body, which
is represented by a free body diagram. Therefore, the free body diagram is the most
important step in the solution of problems in mechanics.

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Types of Supports
While drawing FBD the most important step to master is the determination of the support
reactions. The structure in the field may be various types such as beam, truss, frame, levers
ladder, etc. They are supported with specific arrangements.
Generally, the support offers reactions. Different types of supports and their reactions are
classified as follows.

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Solved Example 2

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OR

Solved Example 3
Find the tension in each rope in Fig.

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Solved Example 4

Block P of 5 kg and block Q of mass m kg are

suspended through the chord, which is in the
equilibrium position, as shown in Fig. Determine the
mass of block Q.

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Solved Example 5

A system of connected
flexible cables shown in Fig. is
supporting two vertical forces
200 N and 250 N at points B and D.
Determine the forces in
various segments of the cable.

Solution

Solved Example 6

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A circular roller of weight 1000 N and radius 20 cm hangs by a tie rod

AB = 40 cm and rests against a smooth vertical wall at C as shown in
Fig. . Determine the tension in the rod and reaction at point C.

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Solved Example 7
Two identical cylinders, each weighing 500 N are
placed in a trough as shown in Fig. Determine the
reactions developed at contact points A, B, C and D.
Assume all points of contact are smooth.

Solution

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Solved Example 8
Cylinder 1 of diameter 200 mm and cylinder 2 of
diameter 300 mm are placed in a trough as shown in
Fig. 2. If cylinder 1 weighs 800 N and cylinder 2
weighs 1200 N, determine the reactions developed
at contact surfaces A, B, C and D. Assume all
contact surfaces are smooth.

Solution

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Solved Example 9
Cylinder A weighing 4000 N and cylinder B weighing 2000 N rest on smooth inclines as
shown in Fig. They are connected by a bar of negligible weight hinged to geometric
centres of the cylinders by smooth pins. Find the force P to be applied as shown in the
figure such that it will hold the system in the given position.

Solution

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Solved Example 10

A frictionless pulley is supported by two bars AB and AC

which are hinged at B and C to a vertical wall as shown in
Fig. 1.48 (a). A flexible cable DG hinged at D goes over the
pulley and supports a load of 15 kN at G. Determine the
forces in the bars AB and AC.

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Solved Example 11

Solution

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Solved Example 12

Solution

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Solved Example 13
A bar BC is loaded and supported as shown in the figure. What is the internal force in the
string AB and Reaction at hinged joint C

Solved Example 14

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Example 15

Solved Example 16

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Exercise 1

A roller of weight W = 1000 N rests on a smooth

inclined plane. It is kept from rolling down the plane
by string AC as shown in Fig. Find the tension in the
string and the reaction at the point of contact D.

Exercise2

A cylinder of mass 50 kg is resting on a

smooth surface, which is inclined at 300 and
600 to the horizontal as shown in Fig.
Determine the reaction at contact A and B.

Exercise 3

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Ex- 4

Ex- 5

Ex- 6

Ex- 7

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Ex- 8

Ex- 9

Ex- 10

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Ex- 11

Ex- 12

Ex- 13

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Ex- 14

Ex- 15

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Ex- 16
A man raises a 10 kg joist, of length 4 m, by pulling on a rope. Find the tension in the rope
and the reaction at A.

Ex- 17

A 4-m bar of negligible weight rests in a horizontal position on the smooth planes shown
in Figure. Compute the distance x at which load W = 10 kN should be placed from point
B to keep the bar horizontal.

Answer
x=1.61m

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Ex- 18
Two identical prismatic bars PQ and RS each
weighing 75 N are welded together to form a
Tee and are suspended in a vertical plane as
shown in Fig. Calculate the value of θ that
the bar PQ will make with vertical when a
load of 100 N is applied at S.

[Ans. 13.25°]

Ex- 19
The lever ABC of a component of a machine is hinged at B, and is subjected to a system
of coplanar forces as shown in Fig. Neglecting friction, find the magnitude of the force
(P) to keep the lever in equilibrium. Also determine the magnitude and direction of the
reaction at B.

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Ex- 20

A chord supported at A and B

carries a load of 10 kN at D
and a load of W at C as shown
in Fig. Find the value of W so
that CD remains horizontal.
[Ans. W = 30 kN]

Ex- 21

Three smooth spheres A, B and C weighing 300 N, 600 N and 300 N respectively and
having diameters 800 mm, 1200 mm and 800 mm respectively are placed in a trench as
shown in Fig.. Determine the reactions developed at contact points P, Q, R and S.

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Ex- 22

Three spheres A, B and C having their

diameters 500 mm, 500 mm and 800
mm, respectively are placed in a trench
with smooth side walls and floor as
shown in Fig. The centre-to-centre
distance of spheres A and B is 600 mm.
The cylinders A, B and C weigh 4 kN,
4 kN and 8 kN respectively. Determine
the reactions developed at contact
points P, Q, R and S

Ex- 23

A ladder weighing 100 N is to be kept in the

position shown in Fig., resting on a smooth floor
and leaning on a smooth wall. Determine the
horizontal force required at floor level to prevent
it from slipping when a man weighing 700 N is at
2m above floor level.

FBD

Answer : F = 447.45 N

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Ex- 24

The beam AB of span 12 m shown in [Link] hinged at A and is on rollers at B. Determine

the reactions developed at A and B due to the loading shown in the figure.

FBD

Ex- 25
Beam AB, 8.5 m long, is hinged at A and has a roller support at B. The roller support is
inclined at 45° to the horizontal. Find the reactions at A and B, if the loads acting are as
shown in Fig

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