Unit 1: Static Force Analysis Hareesha N Gowda Asst. Professor Dept of Aeronautical Engg Dayananda Sagar College of Engineering hareeshang@[Link] ‘Acro Engg, DSCE, BloreUnit 1: Static Force Analysis * Static force analysis — Introduction — Static equilibrium — Equilibrium of two and three force members — Members with two forces and torque — Free body diagrams — principle of virtual work * Static force analysis of — four bar mechanism — slider-crank mechanism with and without friction.STATIC EQUILIBRIUM * Abody is in static equilibrium if it remains in its state of rest or motion. * If the body is at rest, it tends to remain at rest and if in motion, it tends to keep the motion. * In static equilibrium, — the vector sum of all the forces acting on the body is zero and — the vector sum of all the moments about any arbitrary point is zero. * Mathematically, IF =0 =IT=0 * In aplaner system, forces can be described by two-dimensional vectors and sis 0 0 0 ABS 11/3/2014EQUILIBRIUM OF TWO AND THREE-FORCE MEMBERS * Amember under the action of two forces will be in F, equilibrium if — the forces are of the same magnitude, — the forces act along the same line, and — the forces are in opposite directions. * Figure shows such a member. fe A member under the action of three forces will be in equilibrium if — the resultant of the forces is zero, and — the lines of action of the forces intersect at a point (known as point of concurrency). Fy =F. aiyay2ona Hareesha N G, Dept of Aero Engg, OSCE, BloreEQUILIBRIUM OF TWO AND THREE-FORCE MEMBERS (Contd...) * Figure (a) shows a member acted upon by three forces F,, F, and F; and is in equilibrium as the lines of action of forces intersect at one point O and the resultant is zero. * This is verified by adding the forces vectorially [Fig.(b)]. * As the head of the last vector F, meets the tail of the first vector F,, the resultant is zero. * Figure (d) shows a case where the magnitudes and directions of the forces are the same as before, but the lines of action of the forces do not intersect at one point. * Thus, the member is not in equilibrium. Fe Fi tyareoa HareeshaN G,B Fa (a)* Consider a member in equilibrium in which force F, is completely known, F, known in direction only and F; completely unknown. * The point of applications of F,, F, and F, are A, B and C respectively. * Tosolve such a problem, first find the point of concurrency O from the two forces with known directions, i.e. from F,, and F,. * Joining O with C gives the line of action of the third force F;. * To know the magnitudes of the forces F, and F, take a vector of proper magnitude and direction to represent the force F,. * From its two ends, draw lines parallel to lines of action of the forces F, and F; forming a force triangle [Fig.]. * Mark arrowheads on F, and F, so that F,, F, and F, are in the same order. fh Fe Fi, Fy Fa] \Fi Fy ©) Fe ape Fy @ =, =~ ODMEMBER WITH TWO FORCES AND A TORQUE * Amember under the action of two forces and an applied torque will be in equilibrium if — the forces are equal in magnitude, parallel in direction and opposite in sense and — the forces form a couple which is equal and opposite to the applied torque. Fy T h a—a@—} * Figure shows a member acted upon by two equal forces F,, and F, and an applied torque T for equilibrium, T=F,xh=F,xh where T, F, and F, are the magnitudes of T, F, and F, respectively. * Tis clockwise whereas the couple formed by F,, and F, is counter- clockwise. ayar2on4 Hareesha N G, Dept ofFORCE CONVENTION * The force exerted by member i on member j is represented by F;, 1, / har ® i. A F Fi @ @ "ifm (b) (a) Lo.a. = Line of action Foy (e)FREE BODY DIAGRAMS * Afree body diagram is a sketch or diagram of a part isolated from the mechanism in order to determine the nature of forces acting on it. * Figure (a) shows a four-link mechanism. * The free-body diagrams of its members 2, 3 and 4 are shown in Figs. (b), (c) and (d) respectively. * Various forces acting on each member are also shown. * As the mechanism is in static equilibrium, each of its members must be in equilibrium individually. Ag og @ @ Fug (a) Loa. = Line of action tyvareona Foe)* Member 4 is acted upon by three forces F, F,, and F,,. * Member 3 is acted upon by two forces F,; and F4; * Member 2 is acted upon by two forces F, and F,, and a torque T. * Initially, the direction and the sense of some of the forces may not be known, * Link 3 is a two-force member and for its equilibrium F,, and F,; must act along BC. * Thus, Fz, being equal and opposite to F,, also acts along BC. c F8 3 2 Fea Cc ao “ Fa Loa. = Line of action aay Fy, —((®)* Assume that the force F on member 4 is known completely. * To know the other two forces acting on this member completely, the direction of one more force must be known. * For member 4 to be in equilibrium, F,, passes through the intersection of Fand F;,. * By drawing a force triangle (F is completely known), magnitudes of F,,and F,, can be known [Fig.(e)]. Now Fy3q = Faz = F3 = Fp * Member 2 will be in equilibrium if F,, is equal, parallel and opposite to F,,and T=Fyxh=Fyxh 11/3/2004A four-link mechanism with the following dimensions is acted upon by a force 80N at angle 150° on link DC [Fig.(a)): AD = 50 mm, AB = 40 mm, BC = 100 mm, DC = 75 mm, DE = 35 mm. Determine the input torque T on the link AB for the static equilibrium of the mechanism for the given configuration. c. As the mechanism is in static equilibrium, each of its members must also be in equilibrium individually. Member 4 is acted upon by three forces F F;, and Fig’ Member 3 is acted upon by two forces F,, and F4; Member 2 is acted upon by two forces F,, and F,, and a torque T. ~-fop )------------ = Initially, the direction and the sense of some of the On @ o@ forces are not known. Force F on member 4 is known completely. To know the other twa forces acting on this member completely, the direction of one more force must be known. To know that, link 3 will have to be considered first which is a two-force member. aiyay20n4 Hareesha N G, Dept of Engg, BSCE, Blore 42* As link 3 is a two-force member [Fig.(b)], for its equilibrium, F,, and F,; must act along BC (at this stage, the sense of direction of forces Fp; and F,, is not known). Thus, the line of action of F;, is also along BC. * As force F,, acts through point C on link 4, draw a line parallel to BC through C by taking a free body of link 4 to represent the same. Now, as link 4 is three force member, the third force F,, passes through the intersection of F and F,, [Fig (c)]. * By drawing a force triangle (F is completely known), magnitudes of F,,and F,, are known [Fia(d)I. ‘ 8 From force triangle, F,,=47.8.N rete (Divewse 53Now, Fag = -Fg3 =Fo3 = -F3 * Member 2 will be in equilibrium [Fig. (e)] if F,, is equal, parallel and opposite to F;, and T=-F,, x h = 47.8 x 39.3 = -1878.54 [Link] The input torque has to be equal and opposite to this couple i.e. T= 1878.5 N/mm (clockwise) h=Perpendicular distance between two equal and opposite forces, Fo o aiyayeona Hareesha NG, Dept of Aero Engg, OSCE, Blore 14Figure shows a slider crank mechanism in which the resultant gas pressure 8x10‘ N/m? acts on the piston of cross sectional area 0.1m? The system is kept in equilibrium as a result of the couple applied to the crank 2, through the shaft at O,, Determine forces acting on all the links (including the pins) and the couvle on 2, OA=100mm, AB=450mm. P= (8x 10°) x (01) 810° Free body diageam boa Loa fas te pfs HareeshaN.G, Dept of Aero Engg, DSCE, 1/3/2014 mehForce triangle for the forces acting on(4)is drawn to some suitable scale. Magnitude and direction of P known and lines of action of Fy, & F,, known. P Loa a P Fay 88x10 N a, [fe 3h. Loa F, 4 Measure the lengths of vectors and multiply by the scale factor to get the magnitudes of Fy, & Fy,. Directions are also fixed. Since link 3 is acted upon by only two forces, F,, and F., are collinear, equal in magnitude and opposite in direction __ ,, ie, Fyy=-Fyy =8.8x10°N Also, F;; =~- F, (equal in magnitude and opposite in direction). F,Link 2 is acted upon by 2 forces and a torque, for equilibrium ™ the two forces must be equal, parallel and opposite and their 4 sense must be opposite to T,. There fore, / Fy =-F))=8.8x10° N 02 F, & F,, form a counter clock wise couple of magnitude, F,; *h = Fi) *h =(8.8x10°)x0.125 = 1100 Nm. To keep 2 in equilibrium, T: should act clockwise and magnitude is 1100 Nm. Note: h is measured perpendicular to F;, &F,;* For the mechanism shown in Fig. (a), determine the torque on link AB for the static equilibrium of the mechanism. As the mechanism is in static equilibrium, each of its members must also be in equilibrium individually. * Member 4 is acted by three forces, F1, F34 and F14. * Member 3 is acted by three forces, F2, F23 and F43 * Member 2 is acted by two forces, F32 and F12 and a Torque T. 8 os F oF a oT Fas ‘a T @ B A Fa () Fi , Fr nesta i Eri OS; Be Fu a* Force F, on member 4 is known completely. To know the other two forces acting on this member completely, the direction of one more force must be known. However, as link 3 now is three-force member, it is not possible to know the direction of force F,, from that also. * Consider two components, normal F";,, and tangential F*,, of the force F,. Assume F";, to be along DC and F',, perpendicular to DC through C. Also, take the components of force F, i.e. F', and F', along the same directions. * Now as link 4 is in equilibrium, no moments are acting on it. Taking moments of all the forces acting on it about pivot point D, M=El,x DC+ Ff x DE=0 (No moments are to be there due to forces F;, F" and F,, as these forces pass through point D) ayay2on4 Hateestia NG, Dept of Aero Engg, BSCE, BloFi, = -F x>=- DE DC Graphically the above value of F',, can be obtained by taking F, on link 4 to some convenient scale and then taking two components of it, the normal component along DC and the tangential component perpendicular to DC being shown by JH in Fig.(c). Also draw CL Perpendicular DC. Draw JL parallel to HC. Join DL which intersects JH at K. Now, KH is the component F';, the direction being towards K. Hareesta NG, DeFor the static equilibrium of the quick return mechanism shown in fig. 12.11 (a), determine the input torque T2 to be applied on link AB for a force of 300N on the slider D. The dimensions of the various links are OA=400mm, AB=200mm, (OC=800mm, CD=300mm tarzan1/3/2014 Hareesha N G, Dept of Aero Engg, DSCE, Blore11/3/2014 Hareesha N G, Dept of Aero Engg, DSCE, Blore 2BIn a four-link mechanism shown in Fig., torque T, and T, have magnitudes of 30N.m and2 ON. m respectively. The link lengths are AD = 800 mm, AB = 300 mm, BC = 700 mm and CD = 400 mm. For the static equilibrium of the mechanism, determine the required input torque T, D Fy Ts ma \ffu fa) ‘c Fa 8, of Fey MaeushaN G Deatet \ere Eee DECE Bore: 2In a four-link mechanism shown in Fig., torque T, and T, have magnitudes of 30N.m and2 ON. m respectively. The link lengths are AD = 800 mm, AB = 300 mm, BC = 700 mm and CD = 400 mm. For the static equilibrium of the mechanism, determine the required input torque T, ra \ tm Ty : A Fa Tap, A Fra eisianas Meeeshan G Deut of dere fae. DECE, GoreNeglecting torque T3 Torque T, on the link 4 is balanced by a couple having two equal, parallel and opposite forces at C and D, As the link 3 is a two-force member, F,; and therefore, Fj, and F,, will be parallel to BC. Fy = Fy = =) 2522N and. Fyy= Fa" Foy Fug" Fig 522.N Tag = Fy hy, = 52.2 X 0.274 = 14.3.N.m counter-clockwise. srisimis Meeashan 6Neglecting torque T4 F,; is along CD. The diagram is self-explanatory. eisianas rw Fos Fina ih = aga Man Fy Fy = Fy 44.8N Ty, = Fg yy = 44.8 0,042 = [Link] sounter-clockwise, Tz = Tz, + Ty = 14.3 + 1,88 = 16.18 N counter-clockwise Meeeshan G Deut of dere fae. DECE, Gore ”PRINCIPLE OF VIRTUAL WORK * The principle of virtual (imaginary) work can be stated as the work done during a virtual displacement from the equilibrium is equal to zero. + Virtual displacement may be defined as an imaginary infinitesimal displacement of the system. * By applying this principle, an entire mechanism is examined as a whole and there is no need of dividing it into free bodies. srisimis* Consider a slider-crank mechanism shown in Fig. + It is acted upon by the external piston force F, the external crankshaft torque T and the force at the bearings. * As the crank rotates through a small angular displacement 58, the corresponding displacement of the piston is 6x, the various forces acting on the system are — Bearing reaction at O (performs no work) — Force of cylinder on piston, perpendicular to piston displacement (produces no work) — Bearing forces at A and B, being equal and opposite (AB is a two-force member), no work is done — Work done by torque T= T 56 = Work done by force F = F 6x + Work done is positive if a force acts in the direction of the displacement and negative if it acts in the opposite direction, erin Meeeinan G Dent of dere fae. OSCE, ore aAccording to the principle of virtual work, W= 750+ F dx=0 As virtual displacement must take place during the same interval 31, dé dx T—+F—=0 a dt or Ta+Fv=0 where « is the angular velocity of the crank and y, the linear velocity of the piston r=-7y ao The negative sign indicates that for equilibrium, T must be applied in the opposite direction to the angular displacement.eins Mareesha MG. of are ge. OSCE, loreeins Mareesha MG. of are ge. OSCE, lore