Engineering Mechanics (Statics)

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Chapter 1
Centroid
Centre of gravity: -
It is a point where the entire weight of a body is assumed to act. This term is normally applicable for
three dimensional objects. It is also known as center of mass.

Centroid:-
It is a point where the entire area of a plane lamina (figure) is assumed to act. It is the geometrical
Centre of a plane lamina.

Important points for calculation of centroid:-

1. For symmetrical lamina centroid always lies on axis of symmetry, because it is geometrical Centre of
a lamina.
2. If the figure is symmetrical about an axis, then that axis itself is a centroidal axis -
i.e. If fig is symmetrical about X-axis then Y coordinate of centroid. i.e. 𝑌̅ = 0
If fig is symmetrical about Y-axis then X coordinate of centroid i.e. 𝑋̅ = 0
3. If the lamina has more than one axis of symmetry, then the intersection of axes of symmetry is the
centroid of the given lamina.
4. If the lamina is symmetrical about a line which is inclined at an angle of 450 with reference axes & is
passing through origin then 𝑋̅ = 𝑌̅
5. Centroid may or may not lie on the given lamina.

➢ Centroid of composite plane lamina can be calculated by using following formulae.

∑ 𝒂𝒊 𝒙𝒊 ∑ 𝒂𝒊 𝒚𝒊
̅=
𝑿 , ̅=
𝒀
∑ 𝒂𝒊 ∑ 𝒂𝒊

Where 𝑥 = x co-ordinate of centroid (It is horizontal distance of centroid from Y axis)

𝑦 = y co-ordinate of centroid (It is vertical distance of centroid from X axis)

Position of centroid of some common geometrical plane lamina

x y
a
Shape Fig co- co- Remark
(Area)
ordinate ordinate

Centroid of
rectangle lies at the
intersection of axes
𝑏 𝑑
1. Rectangle bd of symmetry
2 2 (at centre of
rectangle)

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Centroid of right
angle triangle lies
at a distance of
2. Right
1 𝑏 ℎ (𝑏⁄3) & (ℎ⁄3)
angle 2
bh
Triangle 3 3 from right angle
OR (2𝑏⁄3) &
(2ℎ⁄3)from apex.

ℎ
3
from
Centroid lies on the
base axis of symmetry at
3. Triangle
(Isosceles 1 𝑏 a distance of
bh OR
& 2 2 ℎ
( ⁄3)from base or
Equilateral 2ℎ
3
from (2ℎ⁄3) from apex.
apex

4. Circle 𝜋𝑟 2 0 0 Centroid of circle

lies at its centre.

Centroid of
semicircle lies on
the axis of
5. Semi- 𝜋𝑟 2 4𝑟 symmetry at a
0
circle 2 3𝜋 distance of
4𝑟⁄ from centre
3𝜋
of circle.

Centroid lies at a
distance of
6. Quarter 𝜋𝑟 2 4𝑟 4𝑟 (4𝑟⁄3𝜋)
circle 4 3𝜋 3𝜋 from the base of
quarter circle.

degree Centroid lies on the

axis of symmetry at
αr2 2𝑟 𝑠𝑖𝑛𝛼 a distance of
7. Sector of 2𝑟𝑠𝑖𝑛𝛼
3𝛼 0 ( ⁄3𝛼 ) from
circle
the centre of the
Rad Rad sector along axis of
symmetry.

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• Procedure to find centroid of composite Plane Lamina & Bent bars
1) Select suitable co-ordinate axes if not given.
2) Check the symmetry of the given lamina. If lamina is symmetrical about a line then centroid
always lies on that line. In such cases one co-ordinate of centroid can be calculated directly by
observation.
3) Divide the given composite figure into basic shapes, find area & coordinate of centroid for each
part from given reference axes.
4) To find out co-ordinate of centroid use following formulae.

∑ 𝒂𝒊 𝒙𝒊 ∑ 𝒂𝒊 𝒚𝒊
̅=
𝑿 , ̅=
𝒀
∑ 𝒂𝒊 ∑ 𝒂𝒊

Classwork Problems
1) Find the centroid of the shaded area 3) Determine the centroid of the shaded
(Dec 12) area. All dimensions are in mm.
̅ = 𝟗. 𝟖𝟓𝟖 𝒄𝒎, 𝒀
[Ans: 𝑿 ̅ = 𝟕. 𝟏𝟏𝟖 𝒄𝒎] (Dec 15)
̅ = 𝟏𝟖. 𝟒𝟓 𝒎𝒎, 𝒀
[Ans: 𝑿 ̅ = 𝟑𝟓. 𝟏𝟑 𝒎𝒎]

2) Find the centroid of the shaded area 4) Find the centroid of the shaded plane
(Dec 14) area. (May 19, Dec 10)
̅ = 𝟕𝟓. 𝟓𝟔 𝒎𝒎, 𝒀
[Ans: 𝑿 ̅ = 𝟓𝟓. 𝟔𝟗 𝒎𝒎] ̅ = 𝟏𝟐. 𝟒𝟔 𝒎𝒎, 𝒀
[Ans: 𝑿 ̅ = 𝟐𝟐. 𝟎𝟒 𝒎𝒎]

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5) A circle of diameter 1.5 m is cut from a 8) Determine the centroid of the plane
composite plate. Determine the centroid lamina shown. (Dec 18, May 14)
of the remaining area of the plate.(Dec 16) [Ans: 𝑿̅ = 𝟏. 𝟓𝟗 𝒄𝒎, 𝒀 ̅ = 𝟐. 𝟎𝟖 𝒄𝒎]
̅ = 𝟒. 𝟑𝟕 𝒎, 𝒀
[Ans: 𝑿 ̅ = 𝟏. 𝟖𝟐 𝒎]

[Note: When positions of reference axes are not

given, then take the co-ordinate axes at a
convenient location. Mostly consider extreme
bottom line as reference X axis and extreme left
line as reference Y axis]

6) Find the centroid of the shaded area 9) Find the centroid of the shaded part of the
shown in fig. (May 13) following lamina.
̅ = 𝟒. 𝟎𝟗 𝒄𝒎, 𝒀
[Ans: 𝑿 ̅ = 𝟒. 𝟔𝟑 𝒄𝒎] ̅ = 𝟗𝟏. 𝟕𝟔 𝒎𝒎, 𝒀
[Ans: 𝑿 ̅ = 𝟔𝟗. 𝟑𝟕 𝒎𝒎]

7) Determine the centroid of the shaded part. 10) Find the centroid of the shaded area
(May 18) shown in figure (May 17)
̅ = 𝟐. 𝟓𝟖 𝒄𝒎, 𝒀
[Ans: 𝑿 ̅ = −𝟎. 𝟒𝟕𝟒 𝒄𝒎] ̅=𝒀
[Ans: 𝑿 ̅ = 𝟓. 𝟑𝟒 𝒄𝒎]

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Homework Problems
1) Find the centroid of the shaded area (M-13) 4) Find the centroid of the shaded area.
̅ = 𝟔. 𝟗𝟖 𝒄𝒎, 𝒀
[Ans: 𝑿 ̅ = 𝟏𝟐. 𝟕𝟑 𝒄𝒎] ̅ = 𝟏𝟏𝟐. 𝟓𝟒 𝒎𝒎, 𝒀
[Ans: 𝑿 ̅ = 𝟏𝟗. 𝟔𝟓 𝒎𝒎]

2) Determine the centroid of the shaded area 5) Determine the centroid of the plane lamina.
shown. Shaded part is removed. (Dec 17)
̅ = 𝟓. 𝟐𝟑 𝒄𝒎, 𝒀
[Ans: 𝑿 ̅ = 𝟐. 𝟕𝟗 𝒄𝒎] ̅ = 𝟓𝟓. 𝟓𝟔 𝒎𝒎, 𝒀
[Ans: 𝑿 ̅ = 𝟒𝟓. 𝟐𝟖𝟓 𝒎𝒎]

3) Determine the centroid of the shaded area 6) Determine the co-ordinates of the centroid
shown. of the shaded portion shown in fig.
̅ = 𝟐. 𝟗𝟒 𝒄𝒎, 𝒀
[Ans: 𝑿 ̅ = −𝟎. 𝟗𝟎𝟓 𝒄𝒎] ̅ = 𝟏𝟗. 𝟏𝟔 𝒄𝒎, 𝒀
[Ans: 𝑿 ̅ = 𝟏𝟗. 𝟎𝟔 𝒄𝒎]

6) Find the centroid of the shaded part of the 8) Find the centroid of shaded part of the
lamina lamina. (May 16)

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̅= 𝒀
[Ans: 𝑿 ̅ = 𝟏. 𝟓𝟔 𝒎𝒎] ̅ = 𝟏. 𝟏𝟔 𝒄𝒎, 𝒀
[Ans: 𝑿 ̅ = 𝟖. 𝟎𝟓 𝒄𝒎]

7) For the figure given below, locate the 9) Determine the centroid of the shaded area
centroid of the shaded area with respect to as shown in figure. (Dec 16)
given x-axis and y-axis. ̅ = 𝟕. 𝟎𝟑 𝒄𝒎, 𝒀
[Ans: 𝑿 ̅ = 𝟔. 𝟒𝟗 𝒄𝒎]
̅ = 𝟏𝟔. 𝟖𝟏 𝒄𝒎, 𝒀
[Ans: 𝑿 ̅ = 𝟖. 𝟐𝟏 𝒄𝒎]

10) A circular hole of radius 30 mm, with centre 70mm away from Y axis is removed from the given
plate. Determine the centroid of the remaining part.
(Dec 18)
[Ans: X = 93.79 mm, Y = 0]

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Chapter 2
Resultant of coplanar force system

Mechanics: - It is defined as that branch of Science which deals with the study of forces (Analysis) &
their effects on bodies both in the state of rest & in motion.

Mechanics can be classified into-

• Mechanics of solids
• Mechanics of fluids
Mechanics

Mechanics of solids Mechanics of fluids

Mechanics of Rigid bodies Mechanics of Deformable bodies

(Engineering Mechanics) (Strength of Materials)

Statics Dynamics

Kinematics Kinetics

Basic Definitions:-

1) Statics: - is the branch of Mechanics, which studies the forces & their effects on rigid bodies,
which remains at rest, even under the action of forces..

2) Dynamics: - is the branch of mechanics which studies the motion (displacement, velocity &
acceleration) of rigid bodies & their co-relation with the forces causing that motion.

3) Kinematics: - is a branch of dynamics, which studies the motion (displacement, velocity &
acceleration) of rigid bodies, without any reference to the forces causing that motion.

4) Kinetics: is a branch of dynamics, which studies the motion of the body as well as the forces
causing the motion.

5) Body: - A body is defined as the matter limited in all the directions. OR

An object having definite mass, occupying the definite space is called as body.

6) Rigid body: - The body which does not undergo any change in its dimensions or shape, (i.e. the
relative position of particles is remain fixed or do not change) after the application of force is called as
rigid body.

7) Deformable body: - If the size & shape of a body changes under the action of forces, the body is
known as deformable body.

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Note: In Statics & Dynamics, we assume that all the bodies under consideration are rigid.

8) Particle: A physical object whose dimensions are very negligible is known as particle.

The forces acting on particle are considered as concurrent at its mass centre (i.e. at c.g)

A particle has only translational motion; it doesn’t have rotational motion, whereas rigid body has both,
translational as well as rotational motion.

Force:

Force is defined as an agent which produces or tends to produce, destroy or tends to destroy motion.

It is an external agency which changes or tends to change state of rest or of uniform motion of a body.
Force is a vector quantity. Unit: N, kN

For complete specification of a force & to know its effect on a body one should know the following
parameters about a force.

• Magnitude of force
• Direction
• Point of application
• Nature of force (sense) – Pull (tensile) or Push (Compressive)
•
Effect of force: - When the force acts on a rigid body it produces following external effects on a body.

a) It may accelerate or retard the motion of the body.

b) It may change the state of rest or of motion of the body.
c) It may turn or rotate the body.
d) It may keep the body in equilibrium
System of forces: - A group of forces acting together on a body is called as system of forces. The various
systems of forces give an idea about arrangement of forces when they act simultaneously.

Coplanar Force System: - If the lines of action of all the forces in a system lie in one plane, then
that system of forces is termed as coplanar force system.

Coplanar Force System

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a) Coplanar Concurrent force system: - ii) Unlike Parallel: If the parallel forces are
If the lines of action of all the coplanar forces acting in opposite directions the system is known
pass through a common point (meet at a point), as unlike parallel force system.
then the system is known as concurrent force
system. The point where they are meeting is
known as point of concurrence.

b) Coplanar Parallel force system: - If the lines c) General Force System: - It is also known
of action of all the forces are parallel to each as nonconcurrent, nonparallel force system. If
other & acting in one plane then the system of the lines of forces are neither meeting at one
forces is known as coplanar parallel force point nor they are parallel to each other (non
system. parallel), it is known as general force system.

Coplanar parallel force system is classified into

two types

i) Like Parallel: - If all the parallel forces are d) Collinear force system: - If the line of
acting in same direction, the system is known action of all forces is same i.e. forces, are acting
as like parallel force system. along the same straight line are called as
collinear forces.

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Principle of transmissibility- Principle of superposition

The external effect of a force (condition of The effect of a force on a body remains
equilibrium or motion) on a rigid body remain unchanged, if we add or subtract any system
unchanged, if a force acting on rigid body is which is in equilibrium.
transmitted to act at any other point along same
line of action, without changing its magnitude
& direction.

• Resultant: - Resultant is a single equivalent force, which when acts alone on a body produce the
same effect, as that of number of forces produce on body.

Resultant is the simplest equivalent force system.

• Equilibrant: The equilibrant of two or more forces acting on a body is a single force, which when
acts alone with the others forces, keeps the body in equilibrium.

Equilibrant is equal in magnitude, opposite in direction & collinear in action with the resultant.

E=R

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➢ Methods of finding Resultant
1] Graphical Methods 2] Analytical Method:
a) Triangle law b) Parallelogram law of forces (c) Polygon law of forces
a) Triangle law of forces:-
It can be stated as “If two forces (P & Q) acting on a body are represented by two sides of a
triangle taken in order (in magnitude & direction) then their restaurant is represented by the third side
(closing side)of triangle taken in an opposite order.

P & Q are two forces acting on body

θ = angle between two forces
α – angle made by resultant with force P

The magnitude of the resultant R can be determined graphically by measuring the length of vector
R (length ac) of the force triangle.

ii) Parallelogram law of forces:-

It states that, “If two forces acting on a body are represented in magnitude & direction by the two
adjacent sides of a parallelogram then the diagonal of parallelogram passing through their point of
intersection represents the resultant both in magnitude & direction.

Analytically:

P + Q + 2PQ cos 
2 2
Magnitude of resultant is given by R =
Q sin 
Direction of resultant is given by: tan  =
P + Q cos
θ = Angle between two forces when both acts away or towards the point of concurrency if it is not
make it to do so.

By using above two equations one can find only two unknowns.

iii) Law of Polygon of Forces:

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It is an extension of triangle law for more than two forces, which states that, “If number of forces
acting simultaneously on a body are represented in magnitude & direction by the sides of a polygon
taken in order, then the resultant of all these force may be represented in magnitude & direction by the
closing sides of the polygon taken in opposite order.

➢ Resolution & Composition of forces:

Resolution: - The process of splitting a force into any number of components, without changing the
effect of original force is called resolution of force.

Let Fx & FY be the components of force F in X & Y direction respectively as shown

If the original force acting away from the point its components will also act away from the point & if
the original force acts towards the point its components will also act towards the point.

Composition: - The summation of forces or the process of determining the resultant of number of forces
acting on a body is known as composition of forces.

Principle of Resolution:

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It states that “The algebraic summation of components of forces in a given direction is equal to the
components of their resultant in the same direction.

Σ Fx = Rx Σ Fy = Ry

Where: ∑ Fx = Algebraic summation of forces or components of forces along X axis

∑ Fy = Algebraic summation of forces or components of forces along Y axis

Sign convention for algebraic summation of forces:

Forces may be added algebraically as scalar quantities if sign convention is adopted.

i) If any force or component of force directed towards right or in upward direction then it is
considered as positive. (↑, → + ve)

ii) If any force or components of force directed towards right or in upward direction then it is
considered as negative. (↓, ← - ve)

➢ Resultant of concurrent force system :- (Analytical method)

Steps to find the Resultant of Concurrent force by

1) Resolve each force in two rectangular components along X and Y axis.

2) Find algebraic sum of horizontal & vertical components of forces separately (i.e.Σ Fx& Σ Fy) by using
proper sing conventions.

3) Then the resultant force is given by R = F +  Fy

2 2
x
 Fy
4) The direction of resultant (angle α) is given by tan  =
 Fx
α is the angle made by resultant with horizontal. To calculate it, consider only the
magnitude of Σ Fx & Σ Fy without considering its sign (or consider it is in mod)

5) In concurrent force system no need to find the point of application of resultant force separately. It
passes through point of concurrence itself.

6) When Magnitude or direction of resultant is given (or both), then use Principal of resolution
(∑ 𝐹𝑥 = 𝑅𝑥 , ∑ 𝐹𝑦 = 𝑅𝑦 ) to get other unknowns

• For concurrent force system, by using above two equations one can find only two unknowns.

➢ Moment of a force about a point.

The turning effect or rotational effect of a force is called moment of force. OR

The tendency of a force to rotate the body about a point is known as moment of force about the point.

The moment of a force is equal to the product of a force (P) & perpendicular distance (d) between
the line of action of a force & a point about which the moment to be taken.

Moment of force about point A, MAP = P x d ( )

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S.I units of moment are N-m., kN-m (depends on the units of force & perpendicular distance)

• The point about which the moment being taken is known as moment centre & the perpendicular
distance is moment arm.

• The moment of a force is different at a different moment centre.

• If the point (moment centre) lies on the time of action of force i.e. when line of action of force
passes through moment centre then the moment of force is zero because for the case
perpendicular distance would be zero.

Examples of Moment:-
(i) Opening & closing of door.
(ii) The force applied by a wrench (spanner) to a nut.
The moment is the rotational effect produced by a force.
There are two types of rotations.
(i) Clockwise (ii) Anticlockwise

i) Clockwise moment: -

Moment which rotate or tends to rotate the body in clockwise direction (direction in which hands of
clock are rotate)

ii) Anticlockwise moment: -

Moment which rotate or tends to rotate the body in anticlockwise direction (opp. direction in which
hands of clock are rotate)

Sign Convention for moments: - Moment of forces may be added algebraically like scalar quantities
if a sign convention is adopted.
We shall use following sign convention
Clockwise moment - -ve
Anticlockwise moment - +ve

➢ Couple :-

When two equal, opposite & parallel forces acting on a body forms a couple.

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The moment of couple or magnitude of couple is given by the product of a force in couple &
perpendicular distance between the two forces forming the couple.

Moment of couple = P x d
Couples are also of two types
• Clockwise couple
• Anticlockwise couple
Example of couples: - (1) Opening & closing of cap of bottle (ii) Driving wheel (iii) operating keys

Properties of couple:
1) Two equal, opposite & parallel forces only form a couple.
2) The algebraic sum of forces forming couple is zero.
3) It has no resultant force, so it will not produce any translational motion but it produce rotational
motion of the body.
4) Couple can be balanced only by another couple of equal & opposite moment, it cannot be balanced
by a single force.
5) The algebraic sum of the moment of the forces forming the couple about any point in their plane is
constant & equal to the product of a force & distance between forces forming the couple.

➢ Varignon’s Theorem of Moments:

Varignon’s theorem is useful to determine the position (distance) of the resultant in case of non
concurrent force system.

It states that “The algebraic sum of moments of all forces acting on a body about any point in the plane
is equal to the moment of their resultant about the same point in magnitude and direction.”

ΣMA = MAR

ΣMA = R * d

Where ΣMA = Summation of moment of all forces about point A

d = Perpendicular distance of resultant from A
Proof: -

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Let P & Q are two concurrent forces at O, making an angles θ1 & θ2 with X axis, Let R be their resultant
making an angle α with X axis.

Let A be the point on X axis & d1, d2 & d are the perpendicular distances of P, Q & R respectively from
A.

Moment of force P @ A = MAP = P x d1 --------------- (1)

Moment of force Q @ A = MAQ = Q x d2 --------------- (2)
Moment of their Resultant R @ A = MAR = R x d --------------- (3)
Adding equation (1) & (2)
MAP + MAQ = P x d1 + Q x d2
= P x (OA sin θ1) + Q x (OA sin θ2)
= OA [Psin θ1 + Q sin θ2]
= OA [Py + Qy]
= OA [Ry] since Py + Qy = Ry (∑ 𝐹𝑦 = 𝑅𝑦)
= OA x Rsin α
= R x OA sin α
=Rxd
= MAR
i. e. MPA +MQA = MRA
ΣMA = MAR

Use of Varignon’s Theorem:

1)Varignon’s theorem is essentially required to be applied for determining the position of resultant force
in case of parallel & general force system.

2) This theorem is very useful in finding moment of inclined forces about some point. Using this theorem
complicated geometrical constructions for the determination of perpendicular distances are eliminated.

Resultant of general coplanar force system-

Procdedure-

1. Resolve all the given forces in rectangular components along X and Y axis.
2. Determine Σ Fx & Σ Fy
 Fy R =  Fx +  Fy
2 2
3. To get the magnitude of resultant use following formula
4. To get the direction of resultant (α ) use : tan  =
 Fx
5. In general coplanar force system, it is necessary to find the point of application, i.e. perpendicular
distance of resultant with respect to any point. To find point of application use Varignon’s theorem
of moments.
ΣMo = R * d
6. In case of general coplanar system to determine X & Y intercept of the resultant one can use
following formulae.  Mo d
X intercept of resultant = X =  F OR
Y sin 

 Mo d
& Y intercept of resultant = Y =  F OR cos 
X

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➢ Resolution of a force into a force & a couple

(Transfer of a force from one point to other)

Consider a force P acting at point A, we want to transfer it at point O, without changing its effect on
body.

One can add two equal & opposite collinear forces of same magnitude of original force & parallel to its
line of action at O, so that effect will remain unchanged.

We can observe that the original force P & one of the force applied at O form a couple of
magnitude (P x d), Thus

A force may be transfer from one point to the other point along with a couple. Magnitude
& direction of couple is equal to the moment of original force about its new point of application.
This system which is consist a force & couple at a point is known as force couple system.

How to obtain an equivalent force couple system

1. To obtain a force couple system, simply transfer given force from any point to the point, where
force couple system is required.
2. While transferring the force do not change the direction & magnitude of force (Parallel transfer)
3. Along with the force always transfer its moment about new point of application.

Equivalent System: - If effect of two different systems of forces on a body is same, when they act
independently, then the two systems are said to be an equivalent systems.

Resultant is the simplest equivalent force system

How to obtain equivalent force system

1) Assume a system as per requirement; this system is equivalent system.
2) The given system is original
3) For two systems to be equivalent apply
(Σ Fx) original = (Σ Fx)equivalent
(Σ Fy) original = (Σ Fy)equivalent
(Σ Mo) original = (Σ Mo)equivalent Moment about same point
Solving above three equations, find maximum three unknown about equivalent force system.

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➢ Resultant of Parallel force System -
1) The line of action of resultant is parallel to line of action of forces so no need to calculate α
2) Magnitude of resultant can be found out as R = Σ F
3) Use Varignon’s theorem to locate position of resultant.

➢ Types of loading:
The beam is horizontal member of a structure which supports the external transverse loading.
These external loading are of following types.
• Concentrated load (Point load)
• Uniformly distributed load (u.d.l)
• Uniformly varying load (u.v.l)
i) Concentrated Load (Point Load)

When the load acts at a point or when a

force is concentrated its effect at a point, then
that load is said to be a point load.

ii) Uniformly distributed load (u.d.l) OR rectangular load

When a load is spread on the span or

part of span having uniform intensity then
that type of load is known as u.d.l

This is also known as rectangular load;

u.d.l. can be converted into an equivalent
point load by multiplying the load intensity
with length over which it is spread. This
equivalent point load would act at the centre
of the length.

Uniformly varying load (U.V.L)

In uniformly varying load, the intensity of loading varies, uniformly over the beam or part of
the beam. In U.V.L. the load intensity varies linearly.
UVL can be converted into an equivalent point load, whose magnitude is equal to the area under
the load diagram & the equivalent point load would act at centroid of the load diagram.

Triangular load: Trapezoidal load:

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Classwork Problem

1.1 Resultant of concurrent force system

1) Find the resultant of given force system as 4) Forces 7 kN, 10 kN, 10 kN & 3 kN respectively act
shown in figure. at one corner point of a regular pentagon toward
[Ans: - R = 312.9 N, α = 33.30, 3rd Quad] the other four point taken in order, Find their
resultant completely. (May 19)
[Ans: R = 25.10 kN, α = 46.590]

5) Determine the resultant of three forces originating

from point (3, -3) and passing through the points
as indicated. 126 N though (8, 6), 183 N through
(2, -5) and 269 N through (-6, 3) (Dec 13 old
course)
[Ans:- R = 262.54 N, α = 21.380]

6) For the system shown, determine :

(i) The required value of α, if resultant of three
2) The following forces act at a point, forces is to be vertical.
20 N inclined at 300 towards North of East, (ii) The corresponding magnitude of the
25 N towards north, 30 N towards North West, resultant.
35 N inclined at 400 towards South of West. [Ans: α = 21.740, R= 228.9 N acting vertically
Find magnitude & direction of resultant force. downward]
[Ans: - R = 45.6 N,  = 47.50]

3) The striker of carom board lying on the board is

being pulled by four players as shown in the
figure. The players are sitting exactly at the
centre of the four sides. Determine the
resultant of forces in magnitude &
direction.(May 08)
[Ans:- R = 29.09 N, α = 45.890] 7) A point O is subjected to three forces as shown in
fig. Determine the angle  & magnitude of
resultant, for which the resultant of the three
forces is horizontal
[Ans: - (i) R = 121.87 N,  = 320 ]

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8) Resultant of four forces is shown in fig. along 10) A force R = 25 N has components Fa, Fb and Fc as
with three forces find the fourth force shown in fig. If Fc = 20 N. Find Fa & Fb
completely. (Dec 16) [Ans: Fa = 33.9 N & Fb = 35.04 N]
[Ans: - F4 = 961.62 N, θ4 = 39.580 , 4th Quad]

9) A force P of magnitude 800 N is to be resolved 11) Three concurrent forces P = 150N, Q = 250 N and
into two components along the line aa & bb. S = 300 N are acting at 1200 with each other.
If the component of force P along the line bb Determine their resultant force magnitude and
is 300 N, determine the angle  & component direction with respect to P. What is their
of the force along line aa. equilibrant? (Dec 15)
[Ans: -  = 18.950 Faa = 906.64 N (←)] [Ans: - R = 132.29 N,  = 19.10
E = 132.29N,]

1.2 Resultant of General force system.

1) In the rocker arm shown in figure, the moment 2) A system of forces acting on a bell crank lever is
of ‘F’ about O balances that ‘P’ = 250 N, as shown in figure. (a) determine the magnitude,
find F. (May 17) direction and point of application of the resultant
[Ans: - F = 208.35 N] w.r.t ‘O’
(b) Also find the location of the resultant on the
horizontal arm of the lever. (May 14)
[Ans: - R = 2671 N,  = 80.30, d = 139.2 mm,
x = 141.2 mm]

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3) Find the resultant of the force system acting 6) A dam is subjected to three forces, as shown in
on a body OABC shown in fig. Find the figure. Determine the single force and locate its
distance of the resultant from ‘O’. Also find point of intersection with the base AD, assuming
the points where the resultant will cut the X all the forces to lie in a single plane. (May 18)
and Y axis. [Ans: - R = 133.4kN,  = 80.40, x = 2.68m]
(Dec 10)
[Ans: - R = 10 kN,  = 36.860, d = 2 m,
x = 3.34 m, y = 2.5 m]

4) For the system find resultant and its point of

application with respect to point O on X axis 7) Determine completely the resultant of the
(X-intercept) (Dec 14) system of coplanar forces shown in fig.
[Ans: - R = 341.4N, =64.790, x =17.23c mm] [Ans: - R = 2013.9 N,  = 59.860, d = 0.06 m]

5) Determine the resultant of the force system 8) A machine part is subjected to forces as shown.
shown in figure and locate it with respect to Find the resultant of force in magnitude and
point A. (Dec 15) direction. Also locate the point where resultant
[Ans : R = 305.3 N, α = 31.60] cuts the centre line of the bar AB. (Dec 16)
[Ans : R = 16.15 kN, α = 68.20 L = 1.13 m]

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9) In given fig a square board EFGH carries two 11) Replace the force system shown by single force
pulleys A & B which carries loads of 20 N & acting at the origin and couple. (Dec 16)
40 N resp. with the help of cables fixed at [Ans: R = 224.5 N, α = 41.930 M = 2159 Nm]
point K & J as shown in fig. The diameter of
each pulley is 400 mm with reference to x &
y axis shown the co-ordinates of centre of
pulleys are A (1, 4) & B (4, 1) m. Find (i)
magnitude of resultant force on the board &
(ii) x axis, y axis intercept of the resultant
force.
[Ans: - R = 62.39 N,  = 66.770
x- intercept = 1.94 m,
y- intercept = 4.53 m]

➢ Resultant of Parallel force system-

12) Determine the resultant of the following system

of parallel forces shown in figure and locate the
same. (Dec 18)
[Ans: R = 300 N (↑), d = 9.25 m]

➢ Force couple system-

10) Replace the force system shown in Figure,

with a single force and couple system acting
at point B. (Dec 18)
[Ans : R = 848.99N, α= 45.090 , 13) Determine the resultant of following parallel
MB = 2399.66 N-m]
forces & locate with respect to O ,
Radius is 50 cm. (May 17)
[Ans: - R = 80 N (←), d = 103.9 cm]

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14) (a) Resolve the force of 1200 N at C into ➢ Resultant of distributed force system
parallel component at A & B.
(b) Replace the 1200 N force at C by a force 17) Determine the resultant of the given system of
couple system at D. forces as shown in figure. Find the point of
[Ans: - FA = 800 N (↑), FB = 2000 N (↓)] application of the resultant with respect to point
C, on line CG.
[Ans; R = 195.7 kN at 43.80, x = 1.82 m]

15) Figure shows a parallel system of four forces

and two couples.
(i) Replace it by a single force and obtain its
location from point A
(ii)Replace it by a single force and couple at
point A.
(iii)Replace it by a single force & couple at
point D.
(iv)Replace it by two parallel forces at B & D.
[Ans: (i)R = 10 kN (↓) at d = 1.4 m from A 18) A member ABC is loaded by distributed load &
(ii) FA= 10 kN (↓) M A = 14 kN-m pure moment as shown in fig find the (i)
(iii)FD= 10 kN (↓) MD = 46 kN-m
magnitude (ii) position along AC of the
(iv)FB = 15.33 kN (↓) and FD = 5.33 kN (↑)]
resultant.
[Ans: - R = 90 N(↓), d = 18 m on right side of A]

16) The resultant of the three forces shown in fig.

and the other two forces P & Q parallel to
them acting at A & B, is a couple of
magnitude 120 kN-m clockwise. Determine
the forces P & Q.
[Ans: - P = 29 kN (↑), Q = 16 kN (↓)]

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Home Work Problems

1) Four concurrent forces act at a point as shown. 4) Ring is pulled by three forces as shown in fig.
Find their resultant. (Dec 14) Find the force F and the angle θ, if resultant of
[Ans: - R = 94.28 N,  = 72.820] these three forces is 100 N acting in vertical
direction. (Dec 13)
[Ans: - F = 216.65 N, θ = 47.60]

2) Determine magnitude & direction of resultant

force for the system shown in fig. (Dec 15 Old)
[Ans: - R = 99.97 N,  = 36.130]
5) Find the fourth force (F4) completely so as to give
the resultant of the system of forces as shown in
figure. (May 18)
[Ans: - F4 = 171.71 N, θ4 = 40.50]

3) Five concurrent coplanar forces act on a body

as shown in fig. Find the forces P & Q such that
the resultant of the five forces is zero. (May 13)
[Ans: - P = 81 N, Q = 10.64 N]

6) Two concurrent forces P & Q acts at O such that

their resultant acts along X axis. Determine the
magnitude of Q and hence the resultant.
(May 14)
[Ans: - Q = 300 N, R = 595.69 N]

4) Four forces act on a bolt as shown in fig, find

their resultant. (May 17)
[Ans: - R = 349.1 N,  = 82.430]

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7) The guy cables AB & AC are attached to the top ➢ Resultant of general force system:
of the transmission tower as shown in fig. The
tension in cable AC is 8 kN. Determine the 9) a) Determine the Resultant of the system and
required tension in cable AB, such that the net obtain its location w.r.t. A.
effect of the two cable tensions is a downward b) Replace the system of forces and couple by a
force at point A. determine the magnitude of this force couple system at A.
downward force. (May 15) [Ans: R = 261 N, α = 53.570, d = 0.23m]
[Ans: - R = 12.57 kN, T = 7.4 kN]

10) Find the resultant of coplanar force system

given in fig and the same on AB with due
consideration to the applied moment.
[Ans: R = 510.78 N, α = 66.950, d = 0]

8) To move a boat uniformly along the river at a

given speed a resultant force of R = 520 N, is
required. This is done by two men pulling with
forces P & Q by means of ropes. The rope makes
an angle of 300 & 400 respectively with the side
of river. Determine
(a) The forces P & Q.
(b) If θ1 = 300 find the value of angle θ2 such that
the force in rope Q is minimum, What is this
minimum force Q?
[Ans: - (a) P = 355.7 N, Q = 276.7 N,
(b) θ2 = 600, Qmin = 260 N]

11) A triangular plate ABC is subjected to four

coplanar forces as shown in fig. Find the resultant
completely and locate its position with respect to
pint A.
[Ans: R = 12.71 kN, α = 86.480, x = 6.12m]

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12) Determine the resultant of the system of forces 15) Find the magnitude, direction & position of
shown in figure. Locate the point where the resultant of the given force system about the
resultant cuts the base AB. (Dec 09) base of the pole as shown in fig. Assume pulley
[Ans: R = 131.14N, α = 31.380, x = 10.8 m] is frictionless.
[Ans: - R =1075 N,  = 30.410, d = 4.03 m]

13) Replace the system of forces and couples by a

single force and locate the point on X axis 16) A square lamina is subjected to a force of P1 =
through which the line of action of the resultant 1580 N, shown in fig. Calculate the values of
passes. (Dec 12) forces P2 & P3 such that the resultant of the
[Ans: Ans: R=21.97N, α =45.80, x = 6.73 m] system of forces will be a horizontal force at
point E.
[Ans: - R = 500 N, P2 = 897 N,
P3 = 1674.54 N]

14) Find the resultant of the force system acting on

a body OABC as shown in fig. Also find the
point where the resultant will act on X-axis and
Y-axis. 17) Four forces acting on a rectangle as shown in
[Ans: R = 2013.95N, α =59.860, x = 0.39 m,
fig. Find magnitude and direction of the resultant
y = 0.67m]
force. Also find intersection of line of action of
resultant with X and Y axes, assuming D as
origin (May 19)
[Ans: R=1630.66 N, α=58.190, x=1.15m, y=1.86 m]

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18) Replace the given force system as single force- 21) Determine the magnitude, direction and
moment system at C (May 15 Old) position of the single resultant force. Also
[Ans: R = 70 N, Mc = 109.28 N-m] replace the given system by a force-couple at B
(May 18 CBSGS)
[Ans: R = 102 N (↓) d = 5.1 m, M A= 520 Nm]

22) Replace the force system by a single force w.r.t.

point C (May 15)
[Ans: R = 78.14 kN, α = 20.210 x = 10.76 m]
➢ Resultant of parallel force system

19) Find the resultant of the parallel force system

shown in Figure and locate the same with
respect to point C. Distances are in cm.
Dec 18)
[Ans: R = 60 N (↓) d = 38.33 cm]

23) Determine the resultant of a given system of

forces shown. Find the point of application of
the resultant on the horizontal bar AD with
respect to point A. Inclined force 100 kN is
perpendicular to bar BE (Dec 18).
[Ans: R = 173.2 kN, α = 600,
x-intercept = 7.35 m from A]
20) Find two unlike parallel forces acting at a
distance of 18 cm apart. Which are equivalent
to a force of 30 kN, the greater of the two forces
being at a distance of 8 cm from the given
force?
[Ans: P = 43.33 kN, Q = 13.33 kN]

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Chapter 3
Equilibrium of coplanar force system.
‘If a body is in the state of rest or moving along a straight line with a constant velocity (i.e. dose
not accelerates or rotates) under the action of forces, then the body is said to be in equilibrium.
• Whenever body move with uniform velocity along straight line, then one can say that it is in
equilibrium, because it moves under the action of balance forces.

Conditions of equilibrium-

For the complete equilibrium of a coplanar force system it should be a balance force system, and it
must satisfy following two conditions.
1. Resultant force (unbalanced force) of the given force system should be zero.
2. Resultant moment of the given force system should be zero.

Mathematically.
Σ Fx = 0 Algebraic summation of components of forces in X direction should be zero.
Σ Fy = 0 Algebraic summation of components of forces in Y direction should be zero.
Σ Mo = 0 Algebraic summation of moment should be zero about any point in the plane

Mathematical Conditions of equilibrium:-

1) For concurrent force system:-

i) Σ Fx = 0 ii) Σ Fy = 0
For concurrent force system there are only two conditions of equilibrium, and using two conditions
one can find only two unknowns for concurrent force system.

2) For general force system:-

i) Σ Fx = 0 ii) Σ Fy = 0 iii) ΣM = 0
By using above three conditions one can find three unknowns for general force system which in
equilibrium.

3) For parallel force system:-

i) Σ F = 0 & ii) ΣM = 0 OR i) ΣMA = 0 & ii) ΣMB = 0
By using above two conditions one can find two unknown for parallel force system in equilibrium.

Types of force Maximum no. of unknowns Equilibrium Conditions

system that can be calculated
Concurrent 2 Σ Fx = 0 , Σ Fy = 0
General 3 Σ Fx = 0, Σ Fy = 0, ΣM = 0
Parallel 2 Σ F = 0 & ΣM = 0

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• SOME PARTICULAR CASES OF EQUILIBRIUM

1) Equilibrium of two forces:-

When the body is in equilibrium under the action

of two forces, then these two forces must be equal in
magnitude, opposite in direction & collinear in action.

i.e. when two equal opposite & collinear forces

act on a body then it is in equilibrium.

If F1 = F2, The body

will remain in equilibrium
Two force member:-

When a member acted upon only two forces (pull

or push) is called two force member.

• If two force member, is a straight member,

then for equilibrium the line of action of two
forces is along the axis of member. & the
member is always in tension or compression.
String, wire, cable chain are the example of
two force members.

• If two force member is not a straight member,

then for equilibrium the forces must acts
along the straight line joining the points
where the forces are applied.

Identification of two force member:-

A rigid weightless bar, pin connected at ends or forces acting at ends & no other force or couple act on a
bar, then such a member is considered as two force member.

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2) Equilibrium of three forces :-

When the body is in equilibrium under the

action of three forces, then the resultant of any two
forces is always equal, opposite & collinear with
the remaining third force.

• To satisfy this condition three forces must be

either parallel or concurrent
i.e. when the body is in equilibrium under
the action of three forces then they are
always either concurrent or parallel.

➢ LAMI’S THEOREM

It states that ‘If a body is in equilibrium under the action of three concurrent coplanar forces then each
force is proportional to the sine of the angle between the remaining two forces’

By Lami’s theorem

F1 F F
= 2 = 3
sin  sin  sin 

Proof :-
If force diagram is drawn with three concurrent coplanar forces which are in equilibrium it will be
closed polygon.

In Δ abc Apply sine rule

F1 F2 F3
= =
sin (180 − ) sin (180 − ) sin (180 − )

F1 F F
Hence = 2 = 3
sin  sin  sin 

Points to be remembered when applying Lami’s theorem.

1) Cannot be applicable for more than 3 concurrent forces.
2) All three forces should either act towards or away from the point of concurrence, if it is not make it
to so, either by using principle of transmissibility or by reversing the direction of force by taking –
ve magnitude.

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SUPPORT & SUPPORT REACTION

The reactive force exerted by a support on the body, it is supporting, is called as support reaction.
• “If the linear motion of a body is restricted by the support in some direction the reaction shall be a
force in that direction.”
• ‘It the rotation of a body is restricted about a point, the reaction shall be a couple acting on the body
about that point’.

Types of support

No. of
Type of support Figure Remark
Unknowns
1) Smooth or
Frictionless
support. 01 The reaction at smooth
(Magnitude support is always normal to
When the body is just of reaction) the surface, at the point of
placed in position contact & acts towards the
above or against the body under consideration.
supporting surface
without any (One can use principle of
permanent fixity, is transmissibility to show the
known as smooth forces acting away from the
support. point)

2) Knife edge 01 At knife edge support,

support (Magnitude reaction is perpendicular to
of reaction) body & Directed towards the
In a knife edge body under consideration.
support body is
supported against
sharp corner.

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No. of
Type of support Figure Remark
Unknowns
3) Roller support:

The roller support 01 In roller support, reaction

restrict the motion (Magnitude may act toward or away from
normal to the surface, of reaction) the body under consideration.
but body is free to Initially one has to decide or
move on a surface on assume the direction of
which is rest it also reaction.
free to rotate, hence it
offers a reaction in a
direction normal to
Different Representation of roller
the surface on
support
which the roller is
resting.

Roller support on incline surface

4) Hinge support:
02 Hinge support offers a
In this support (Magnitude resultant reaction force (RA)
horizontal & vertical of HA & VA) which can be split into two
motion is restricted. independent reaction
But body is free to OR components i.e. Horizontal
rotate component (HA) & vertical
(Magnitude component (VA). The
& direction direction of these
of resultant components can be assumed
reaction RA initially.
& α)

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No. of
Type of support Figure Remark
Unknowns

5) Fixed support or 03 This support restrict the

Built in support. (Magnitude linear motion in horizontal &
of HA, VA & vertical direction as well as
MA) restrict the rotation of the
body, hence it offers a
reaction force (RA) which can
be split into two independent
reaction components (HA &
VA) & also reaction moment
MA. Initially assume the
direction of HA, VA & MA.

6) Flexible support 01 A cable can support only a

(Magnitude tension or pulling force. It
(Rope, wire, chains, of tension) cannot apply compressive or
cable etc) push force on body due to its
flexibility. Hence reaction
exerted by cable on the
body is always tensile force
which acts along the cable
& away from the body
under consideration.

7) Rigid rod pin 01 The reaction, may act away

connected at (Magnitude from the body under
ends:- of tension or consideration (when rod is in
compression) tension) or towards the body
(when the rod is in
compression). This reactive
force (tensile or
compressive) act along the
axis of rod if the rod is two
force member.
One can assume the direction
of reaction initially.

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8) Roller or Slider 01 The reaction exerted by the

in smooth slot:- (Magnitude support is perpendicular to
of reaction) the supporting surfaces; it
may act towards or away
from the slider. Initially one
can assumed the direction of
reaction.

9) Collar move on 01 When collar moves in

smooth rod. (Magnitude smooth rod then the reaction
of reaction) is a force which acts
perpendicular to the rod,
initially assume the direction
of reaction.

➢ Types of beams:-

1) Simply supported beam: -

If the beam is supported at the two extreme ends

then the beam is known as simply supported
beam.
Distance between the two supports is known as
span.

2) Cantilever beam: -

When the beam is supported at one end and other

end is free, then it is known as cantilever beam.

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3) Overhang beam: -

When part of the beam is extending beyond the

support then it is known as overhanging beam.

Free body diagram (F.B.D.)

Free body diagram is a figure in which the

body under consideration of equilibrium is separated
(isolated) from all other bodies, with which it is in
contact & all the active & reactive forces are shown
with their magnitudes & directions.(Both known and
unknown)
In FBD all magnitudes, direction &
dimensions of unknown forces, unknown angles &
distances are labeled properly with some variables.
Drawing FBD is first & very important step in
solving the problem on equilibrium.

• Steps in solving the problems on equilibrium of forces.

1. Draw a neat and good FBD (FBD should not be too small)
2. Show all active and reactive forces with their magnitudes, direction and dimensions properly.
3. For unknown forces assume the direction of arrowhead. If the solution yields negative values,
then the sense of force is opposite to that which was originally assumed.
4. Check the figure with the given description & always mention angles of inclined forces with x-
axis or y axis.
5. After showing all forces, including all reactions, apply conditions of equilibrium.
a) For concurrent force system. i) Σ Fx = 0 ii) Σ Fy = 0
b) For general force system i) Σ Fx = 0 ii) Σ Fy = 0 iii) Σ M = 0

In case of general force system, first use Σ M = 0 & take the moment about the point where
maximum unknown forces are meeting, then use other conditions of equilibrium.

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Class Work Problems 4) The cylinder B, diameter 400 mm & weight
5 kN, is held in position as shown in figure,
Equilibrium of concurrent force system-
with the help of cable AB. Find the tension
1) A body is acted upon by three forces F1, F2 in the cable and the reaction developed at
& F3 is in equilibrium. If the magnitude of contact C.
the force F3 is 600 N find the forces F1 & F2. [Ans: T = 4.07 kN, RC = 5.56 kN]
[Ans: F1 = 439.23 N, F2 = 537.94 N]

2) A cylinder of weight 500 N is kept on two 5) Determine the horizontal distance to which a
inclined planes as shown. Determine the 1m long in extensible string holding weight
reactions at the contact points A & B. of 500 N can be pulled before the string
[Ans: RA = 253.86 N, RB = 388.93 N] breaks. The string can withstand the
maximum tension of 1000 N. Determine also
the required force F
[Ans: F = 866 N, X = 0.86 m]

3) The figure shows a 10 kg lamp supported by

two cables AB & AC. Find the tension in
each cable.
[Ans: TAB = 125.3 N, TAC = 119.7 N]

6) Under the action of five forces, following

system is in equilibrium. Determine fifth
force completely. (Equilibrant)
[Ans: F5 = 17.78 N, θ5 = 63.510]

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Equilibrium of connected bodies. 10) Two identical cylinders dia 100 mm weight
(General force system )- 200 N, are placed as shown. All contacts are
7) If the chords suspend the two buckets in the smooth. Find out reactions at A, B and C.
equilibrium position as shown in figure. (May 13)
Determine the weight of bucket B. Bucket A [Ans: RC = 115.4 N, RB = 406.17 N, RA = 185.93
has a weight of 60 N. N]
Also calculate tension in cables EF, FC and
CD. (May 19)
[Ans: WB = 88.79 N, TEF = 65.1 N, TFC = 53.07
N, TCD = 118 N]

8) Find the force transmitted by cable BC shown 11) Two cylinders are kept in a channel as shown
in figure. E is frictionless pulley, where B and in fig. Determine the reactions at all the
D are weightless rings. contact points A, B, C and D. Assume all
[TBC = 565.69N]
surfaces smooth. (May 14)
[Ans: RC = 37.5 kN, RD = 62.5 kN, RA = 48.95
kN, RB = 118.53 kN]

9) Forces act on the plate ABCD as shown in

figure. The distance AB is 4 m. Given that the
plate is in equilibrium find, (i) force F (ii)
angle α (iii) the distance AD. (May 08)
[Ans: F = 13 N, α = 67.380, AD = 8.66 m]

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12) Two spheres A and B weight 1000 N and 750 14) A roller of weight 500 N has a radius of 120
N. Determine the reaction at all contact mm and is pulled over a step of height 60 mm
points 1, 2, 3 and 4. rA = 400 mm, rB = 300 by a horizontal force P. Find the magnitude
mm of P to just start the roller over the step, also
[Ans: R1 = 496.6 N, R2 = 1463.2 N, R3 = 869.1 N, calculate reaction at B.
R4 = 573.5 N] [Ans: P = 288.5 N, RB = 577.5 N]

15) A man raises a 10 kg joist of length 4 m by

13) Three identical spheres P, Q and R each of
pulling on a rope. Find the tension in the rope
weight W are arranged on smooth inclined
and reaction at A.
surface are shown in fig. Determine the
[Ans: T = 82.05 N, RA = 147.87 N, α = 58.570]
minimum angle α, which will prevent the
arrangement from collapsing.
[Ans: α = 10.920]

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Engineering Mechanics (Statics)
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Equilibrium of Beams. (Beam Reactions) 5) Determine the intensity of distributed load W
at the end C of the beam ABC shown in
1) Find the reactions at the supports of the beam figure, for which reaction at C is zero. Also
using conditions of equilibrium. (May - 10) calculate reaction at B.
[Ans: HA = 5.66 kN (←), VA = 8.44 kN (↑), RA [Ans: W = 3kN/m, HB = 0 RB =VB = 21.6kN (↑)]
= 10.16 kN, α = 56.150, RB = 7.22 kN (↑)]

6) Find the reactions at A and B for the bent

2) Find the support reactions at hinge A and the
beam ABC loaded as shown in figure.(M-06)
roller B. (Dec 16)
[Ans: HA = 18 N (→), VA = 13.14 N (↑), RA =
[Ans: HA = 22.98 kN (→), VA = 38.30 kN (↑),
22.29 N, α = 36.130, RB = 4.88N ↑]
RA = 44.67 kN, α = 59.040, RB = 25.98 kN (↑)]

3) Find the support reactions at A and B for the 7) Find the support reactions for a bracket AB
beam as shown in figure. (Dec-13) fixed to the wall at A.
[Ans : MA = 18.1 nm (Clockwise), HA = 21.81
[Ans: HA = 157.04 kN (→), VA = 108 kN (↑), RA
N (←), VA = 35.26 N (↑)]
= 190.59 kN, α = 34.520, RB = 314.08 kN]

4) Find the support reaction at B and the load 8) Find the support reactions of the beam
P, for the beam shown in figure, if the loaded shown in figure. (May 19)
reaction at support A is zero.(M-14) [Ans: HB = 15.32 kN (→), VB = 9.08 kN (↓), RB
[Ans: P = 176 kN, RB = 252 kN (↑)] = 17.81 kN, α = 30.640, RA = 18.22 kN (↑)]

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Engineering Mechanics (Statics)
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9) Find the reactions at support for the beam 10) A uniform beam AB hinged at A is kept
loaded and supported as shown in figure. horizontal by supporting and setting a 100 N
[Ans : RC = 4.55 kN (↑), HD = 0.4 kN →, weight by using a string tied at B and passing
VD = 0.05 kN ↓] over a smooth pulley at C. the beam also
loaded as shown in figure. Find the reactions
at A and C. (May -16)
[Ans: HA = 44.62N (→), VA = 50.32N (↑), RA =
67.25N, α = 48.440, HC = 44.62N (←), VC =
72.18 N (↑), RC = 84.85 N, θ = 58.280]

11) Find the reactions at supports B and F for the beam loaded as shown in the figure. (Dec-14)
[Ans: HB = 209.43N (→), VB = 427.26 N (↑), RB = 475.83 N, α = 63.89 0, RF = 159.05N.]

12) Find the support reactions at point A and B for the given beam. (May 18)
[Ans: HA = 10.39 kN (→), VA = 27.66 kN (↑), RA = 29.55 kN, α = 69.410, RB = 38.34 kN (↑)]

13) Find the support reactions for the beam. (May15)

[Ans: HA = 0, VA = RA = 1.84 kN (↑), RE = 2.89 kN (↑)]

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14) Find the reaction at A. (May 12)
[Ans : HA = 28.29 kN (→) VA = 41.26 kN (↑), RA = 49.97 kN, α = 55.660 MA = 339.17 kN-m
(anticlockwise)]

15) Find the support reactions for the beam as shown in figure.
[Ans: : HA = 0 VA = RA = 7.5 kN (↑), M A = 1.14 kN-m (clockwise)]

Home Work Problems

1) A wheel of weight W = 1000 N rest on a 2) Determine the tensions in the cords AB and
smooth incline plane. It is kept from rolling BC for equilibrium of 30 kg block. (May 15)
down the plane by a string AC. Find the [Ans : TAB = 239.92 N, TBC = 271.23 N]
tension in the string and reaction at the point
of contact D.(Dec - 08)
[Ans: RD = 896.57 N, T = 732.05 N]

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3) A cylinder having a 25 kg mass is suspended 6) A system of connected flexible cables shown
as shown in fig. Calculate the tension in the in figure is supporting two vertical forces 200
string and the reaction from the slope. Neglect N and 250 N at point B and D. Determine the
friction. forces in various segments of the cable.
[Ans: T = 109.49 N, R = 160.08 N] [Ans: TDE = 224.14 N, TBD = 183.01 N, TBC =
336.6 N, TAB = 326.79 N]

4) Determine the magnitude of the smallest force

P and corresponding angle θ required to start
the wheel over the block.
[Ans: P = 9.47 kN, θ = 71.40] 7) Find the tensions in the three cables
connected to B.
[Ans: TAB = 111.8 N, TBD = 109.9 N, TBC = 63.7 N]

5) A 30 kg pipe is supported at A by a system of

five chords. Determine the force in each chord
for equilibrium. (May - 09)
[Ans: TAB = 339.8 N, TAE = 169.9 N, TBD = 8) Two spheres A and B are kept in a horizontal
490.46 N, TBC = 562.3 N] channel. Determine the reactions coming
from all the contact surfaces. Consider the
radius of A and B are 40 mm and 30 mm
respectively. Take WA= 500 N and WB = 200
N.
[Ans : R1 = 204.16 N, R2 = 285.8 N, R3 = 204.16
N, R4 = 700 N]

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9) Two homogeneous solid cylinders of each 12) A prismatic bar AB of length l and weight 3
having weight 5000 N, and radius 0.4 m are kN is hinged to a wall and supported by a
resting as shown in figure. Assume all smooth cable BC. Find hinge reaction and tension in
surfaces find the reactions at A, B and C. cable BC.
[Ans : RA = 4330.13, RB = 4325.26 N, RC = [Ans: RA = 1.5 kN, α = 300, T = 2.6 kN]
5008.65 N]

10) Two smooth cylinder with diameters 250 mm

13) A bar AB 12 m long rests in horizontal
and 400 mm respectively are kept in a groove
position as shown in figure on two smooth
with slanting surfaces making angles 600 and
planes. Find distance X at which a load P =
300 as shown in figure. Determine the
100 N is to be placed to keep the bar in
reactions at all contact points. [Ans : RA =
equilibrium. Neglect weight of bar.
352.69 N, RB = 297.37 N, RC = 1125.85 N]
[Ans : X = 4.82 m]

14) Determine the mass of the heaviest uniform

pipe that can be supported as shown in figure,
knowing that maximum allowable tension in
11) A bar 12 m long and of negligible weight is the cable is 18 kN. Neglect friction.
acted upon by forces as shown in figure. [Ans: m = 3607.54 kg]
Determine angle θ for equilibrium of bar.
[Ans : θ = 28.30]

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15) A lever AB is hinged at C and attached to a 18) Two identical heavy spheres of diameter d are
control cable at A. Determine (i) Tension in in equilibrium within a smooth hemispherical
the cable (ii) The reaction at C. cup of radius 1.5d. Show that the reaction
[Ans: T = 84.93 N, RC = 124.63 N] between the cup and the sphere is double that
between the two spheres.
[Ans: RA = 2W/√𝟑, Rc = W/√𝟑]

19) The frame BCD as shown in figure supports a

16) Find the distance x along AB at which a 600 N cylinder. The frame is hinged at D.
horizontal force of 60 N should be applied to Determine the reactions at A, B, C and D.
hold bar AB of weight 140 N and length 10 m [Ans : RA = 200 N, RB = 600 N, RC = 200 N, RD
in equilibrium. Neglect Friction. = 632.46 N]
[Ans: x = 3.33 m]

17) Two smooth circular cylinders, each of

weight 100 N and radius 6 cm are connected
at their centers by a string AB of length 16 cm
20) A and B are identical cylinders having masses
and rest upon horizontal plane, supporting
above them a third cylinder of weight 200 N of 100 kg each. Determine the maximum
and radius 6 cm. find tension in the string and force P which can be applied as shown in
reactions at D and E. figure without causing A to leave the floor.
[Ans: P = 1699 N]
Ans : T = 89.4 N, RD = RE = 200 N]

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21) Two cylinders of masses m1 = 100 kg and m2 24) Find the reactions at the supports of the beam
= 50 kg are connected by a rigid bar of AB loaded as shown.
negligible weight hinged at each cylinder. [Ans: RA = 7.5 kN, HB = 2.12 kN, VB = 8.6 kN]
Determine magnitude of force P for
equilibrium. [Ans : P = 253.9 N]

25) Find the reactions at the supports of the beam

loaded as shown in figure.
[Ans: HB = 0, VB = 50 kN, RC = 60 kN]
22) Calculate support reactions for the following
beam.
[Ans: VA = 103.97 kN, RB = 136.03 kN]

26) Determine the reactions developed in the

cantilever beam as shown in figure.
[Ans: HA = 10 kN, VA = 52.32 kN, MA = 99.64
kNm ]

23) Determine all support reaction.

[Ans: HA = 0, VA = 6.73 kN, RB = 11.27 kN]

27) Determine the support reactions for the beam as shown in figure.
[Ans: HA = 0, VA = 39.5 kN, RB = 89.5 kN ]

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Chapter 4
FRICTION
‘Friction may be defined as a force of resistance acting on a body which opposes the motion of
a body relative to the surface with which it is in contact.’

Frictional force act in the opposite direction of relative motion of body & tangentially to the surface at
the point of contact. It is induced because of interlocking of irregularities of surfaces in contact.
Types of friction:-
i) Dry friction: - The friction between dry surfaces in contact is called dry friction.
ii) Fluid friction OR wet friction: - The friction between two surface in the presence of fluid is called
as fluid friction.

Dry Friction

Static Friction Kinetic Friction

a) Static friction: It is the friction experienced by the body when it is at the rest or when the body tends
to move.
b) Kinetic friction: It is the friction experienced by the body when it is in the motion.

Limiting Friction:

Limiting friction (Fm) is the magnitude of maximum frictional force between two surfaces when
the surfaces are about to move tangentially against each other.

F = µSN
F < µSN when body is at rest.
F = µSN when body is in impending motion
i.e. in limiting equilibrium.
F = µKN when body is in motion.
Where µS = static coefficient of friction
µK = kinetic coefficient of friction.

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Laws of friction:-

i) Frictional force is always acted in opposite direction of motion.

ii) Frictional force is directly proportional to normal reaction. F ∝ N i. e. F = µSN
iii) Friction is depending on the degree of roughness & kind of material in contact.
iv) Friction is independent of the area of contact of surfaces.
v) Kinetic coefficient of friction is always less than static coefficient of friction. µK < µS

Prove that angle of friction is equal to angle of repose-

Angle of Friction (φ) Angle of Repose (α)

Angle made by the resultant of limiting frictional It is the maximum inclination of plane at
force & normal reaction, with normal reaction is which a body can remain in limiting
known as angle of friction. equilibrium (or minimum angle at which the
body is just at the verge of sliding over the
plane,) entirely by the assistance of friction is
called as angle of repose (α).
It is numerically equal to the angle of
friction (φ)
α=φ

By triangle law -

From the above fig.

∑Fy = 0
N – w cosα = 0
N = w cos α
∑Fx = 0
R is the resultant of normal reaction & frictional Fmax – w sin α = 0
force Fmax = w sin α
𝐹𝑚𝑎𝑥 µ𝑠 𝑁
tan 𝜑 = = µs N = w sin α
𝑁 𝑁
µs (w cos α) = w sin α
tan φ = µS --------- (1) µs (cos α) = sin α
tan α = µS -------- (2)
From equation (1) and (2)
tan φ = tan α
φ=α

If θ < α body will be at rest

θ = α body will be on the verge motion
θ > α body will move down.

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1) A wooden block rests on a horizontal plane 4) Determine the minimum value and
as shown in figure. Determine the force P the direction of the force P
required to just impend the motion. Assume (corresponding angle α) required to
the weight of the block as 100 N and µ = 0.4 cause motion of a 100 kg block to
[Ans: P = 37.4 N] impend upon a 300 plane shown in
figure. The coefficient of friction is
0.2.
[Ans: Pmin = 647.59, α = 11.310]

2) A block of weight 800 N is acted upon by a

horizontal force P as shown in figure. If the
coefficient of friction between the block and
the incline are µs = 0.35 and µk = 0.25,
determine the value P for impending motion
up the plane. (Dec-15) 5) A block of weight 1000 N is kept on
[Ans: P = 780.4 N] a rough inclined surface. Find the
range of P for which the block will be
in equilibrium.(May - 13)
[Ans: 370.1 ≤ P ≤ 629.9]

3) A paint box weighing 9 kg in kept on a

wooden block weighing 1.2 kg. Determine
the magnitude and direction of friction force 6) A support block is acted upon by two
and normal reaction exerted by the roof forces as shown in fig. Knowing that
surface on wooden block. (May - 15) the coefficient of friction between the
[Ans: F = 31.63 N, R = 94.93 N]
block & the incline are s = 0.35, k
= 0.25. Determine the force P
required. (i) To start the block moving
up the incline. (ii) To keep it moving
up. (iii) To prevent it from slipping
down.
Where, s = coeff. of static friction.
k = coeff. of kinetic friction.
[Ans: - (i) P = 780.415 N, (ii) P = 648.75 N,
(iii) P = 80 N]

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7) Determine the force P to cause the motion to 10) Find the force P required to pull block
impend. Take masses of the block A & B as B shown in figure. Coefficient of
8 kg & 4 kg respectively and the coefficient friction between A and B is 0.3 and
of sliding friction as 0..3. The force P and between B and floor is 0.25. Mass of
the rope are parallel to the inclined plane. A = 20 kg and B = 30 kg.
Assume frictionless pulley. [Ans : P = 165.55 N]
[Ans: P = 10.96 N]

11) Block A of mass 30 kg rests on block

B of mass 40 kg as shown in fig.
8) Find the value of θ if the blocks A and B Block A is restrained from moving by
shown in figure have impending motion. a horizontal rope tied at point C, what
Given block A = 20 kg, block b = 20 kg, µA force P applied parallel to plane
= µB = 0.25 inclined at 300 with horizontal is
[Ans: θ = 28.070] necessary to start block B down the
plane. μ = 0.35
[Ans: P = 220.86 N]

9) Block A & B weighing 100 N & 200 N

respectively are separated by a rigid rod &
having negligible weight if  = 0.3 between
all the surfaces of contact, determine the 12) What should be the value of θ so that
value of horizontal force P that will start the the motion of the block A impends
system towards right. down the plane? The coefficient of
[Ans: - P = 89.62 N] friction μ for all the surfaces is 0.33.
mA = 40 kg & mB = 13.5 kg
[Ans: θ = 29.10]

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13) Two blocks A (100 N) and B (150 N) are 16) A block of weight 200 N rests on a
resting as shown in figure. Coefficient of horizontal surface. The co-efficient of
friction between the ground and the block B friction between the block and the
is 0.1 and that between block B and A is 0.3. horizontal surface is 0.4. Find the
Find the minimum value of weight ‘P’ in the frictional force acting on the block if
pan so that motion starts. Describe the kind a horizontal force of 40 N is applied
of motion that would happen. (May 19) to the block.
[Ans: P = 27.29 N, Both blocks move together [Ans: F = 40 N]
on surface]

17) Determine the frictional force

developed on the block shown in
figure when
(i) P = 40 N
(ii) P = 80 N
14) The mass of A is 23 kg and mass of B is 36
(iii) Also find the value of P when
kg. The coefficient of friction are 0.4
the block is about to move.
between A and B, and 0.2 between ground
Coefficient of friction between block
and block B. Assume smooth drum,
and floor is µS = 0.3 and µk = 0.25
Determine the minimum mass of M for
[Ans: (i) F = 34.64 N, (ii) Fk = 35 N,
impending motion (Maximum mass that can (iii) P = 41.9 N]
be applied for equilibrium.)
[Ans: M = 9.2 kg]

18) A car of 1000 kg mass is to be parked

on the same 100 incline year round.
15) If a horizontal force of 1200 N is applied to The static coefficient of friction
block of 1000 N, then block will held in between the tires & the road varies
equilibrium or slide down or move up? Take between the extremes of 0.05 & 0.9.
µ = 0.3 Is it always possible to park the car at
[Ans: The block will move up the plane.] this place? Assume that the car can be
modelled as a particle.
[Ans:- No, The car can be parked only
if µ ≥ 0.176, otherwise

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19) If a horizontal force of 1200 N is applied to
block of 1000 N, then block will held in
equilibrium or slide down or move up? Take
µ = 0.3
[Ans: The block will move up the plane.]

20) A block of weight 200 N rests on a

horizontal surface. The co-efficient of
friction between the block and the horizontal
surface is 0.4. Find the frictional force acting
on the block if a horizontal force of 40 N is
applied to the block.
[Ans: F = 40 N]

21) Determine the frictional force developed on

the block shown in figure when
(iv) P = 40 N
(v) P = 80 N
(vi) Also find the value of P when the
block is about to move.
Coefficient of friction between block and
floor is µS = 0.3 and µk = 0.25
[Ans: (i) F = 34.64 N, (ii) Fk = 35 N,
(iii) P = 41.9 N]

22) A car of 1000 kg mass is to be parked on the

same 100 incline year round. The static
coefficient of friction between the tires &
the road varies between the extremes of 0.05
& 0.9. Is it always possible to park the car at
this place? Assume that the car can be
modelled as a particle.
[Ans:- No, The car can be parked only if µ ≥
0.176, otherwise not]

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Ladder Friction 25) A ladder of 4m length weighing 200
N is placed as shown in figure. µB =
23) A ladder AB of length 3m and weight 25 kg 0.25 and µA = 0.35. Calculate
is resting against a vertical wall and a minimum horizontal force to be
horizontal floor. The ladder makes an angle applied at A to prevent the slipping.
50 degrees with the floor. A man of weight (May - 15)
60 kg tries to climb the ladder. How much [Ans: P = 22.08 N]
distance along the ladder he will be able to
climb if the coefficient of friction between
ladder and floor as 0.2 and that between
ladder and the wall as 0.3. Also find the
angle the ladder should make with the
horizontal such that the man can climb till
the top of the ladder.(Dec - 14)
[Ans: x = 0.571 m, θ = 76.670]

24) A ladder of 5 m long rests on a horizontal

ground & leans against a smooth vertical
wall at an angle 70o with horizontal. The
weight of ladder is 900 N & acts at its middle
the ladder. The ladder is at the point of
sliding when a man weighing 750 N, stands
on ladder 1.5 m from bottom of ladder.
Calculate  between ladder & floor.
[Ans: -  = 0.149]

26) A 100 N uniform rod AB is held in

position as shown in figure. If µ =
0.15 at A and B calculate the range of
P for which equilibrium is
maintained.(M -19)
[Ans: 8.29 ≤ P ≤ 80.58 N ]

XXXXXXXXXXXXXXXXXXX

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Chapter 5
Forces in space
(Non-coplanar force system)

A) Basic Concepts of Vector-

1) Position vector-

It is a vector which represents position of a point with respect to other.

̅̅̅̅ – Position of A with respect to origin O.

𝑂𝐴
̅̅̅̅ – Position of B with respect to origin A
𝐴𝐵
̅̅̅̅ = 𝐵̅ − 𝐴̅.
𝐴𝐵
= (𝑥2 − 𝑥1 ) 𝑖̂ + (𝑦2 − 𝑦1 ) 𝑗̂ + (𝑧2 − 𝑧1 ) 𝑘̂

2) Unit Vector-

It is a vector whose magnitude is one & it is directed in the direction of original vector.

Unit vector along AB –

̅̅̅̅
𝐴𝐵
𝑒̂𝐴𝐵 =
̅̅̅̅|
|𝐴𝐵
(𝑥2 − 𝑥1 ) 𝑖̂ + (𝑦2 − 𝑦1 ) 𝑗̂ + (𝑧2 − 𝑧1 ) 𝑘̂
𝑒̂𝐴𝐵 =
√(𝑥2 − 𝑥1 )2 + (𝑦2 − 𝑦1 )2 + (𝑧2 − 𝑧1 )2

B) To express a force in vector form –

A force can be express in vector form as

𝐹̅ = |𝐹̅ | . 𝑒̂𝐴𝐵

magnitude of unit vector in the

=( ). ( )
a force direction of force
1) When co-ordinates of two points on a line of action of a force are given then-

𝐹̅ = |𝐹̅ | . 𝑒̂𝐴𝐵
̅̅̅̅
𝐴𝐵
= F . |𝐴𝐵
̅̅̅̅ |

̂
(𝑥2 − 𝑥1 ) 𝑖̂+ (𝑦2 − 𝑦1 ) 𝑗̂ +(𝑧2 − 𝑧1 ) 𝑘
=F( )
√(𝑥2 − 𝑥1 )2 + (𝑦2 − 𝑦1 )2 +(𝑧2 − 𝑧1 )2

𝐹̅ = 𝐹𝑥 𝑖̂ + 𝐹𝑦 𝑗̂ + 𝐹𝑧 𝑘̂

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2) When magnitude of a force and direction angles are given –

Let θx, θy, θz are the angles made by force F with

+ x, + y and + z axis respectively.
Then components of force can be written as –
Fx = F cos θx
Fy = F cos θy
Fz = F cos θz

If three components of a force are known then-

𝐹̅ = 𝐹𝑥 𝑖̂ + 𝐹𝑦 𝑗̂ + 𝐹𝑧 𝑘̂
Note:-
1) cos θx , cos θy, cos θz are known as direction cosines.
2) Relation between direction cosine is given by
Cos2θx + Cos2θy + Cos2θz = 1
3) If direction cosines are known then, unit vector can be expressed as –
𝑒̂ = cos 𝜃𝑥 𝑖̂ + cos 𝜃𝑦 𝑗̂ + cos 𝜃𝑧 𝑘̂
4) θx , θy and θz are varies from 0 to 1800
5) If θ < 900 then corresponding component is positive.
6) If θ > 900 then corresponding component is negative.

C) Resultant of concurrent force system in space-

Procedure-
1) Express all forces in vector form.
2) 𝑅̅ = ∑𝐹̅
𝑅̅ = (∑𝐹𝑥 )𝑖̂ + (∑𝐹𝑦 )𝑗̂ + (∑𝐹𝑧 )𝑘̂
𝑅̅ = 𝑅𝑥 𝑖̂ + 𝑅𝑦 𝑗̂ + 𝑅𝑧 𝑘
Where – Rx = ∑ Fx
Ry = ∑ Fy
Rz = ∑ Fz

3) Magnitude of resultant is given by – R = √𝑅𝑥2 + 𝑅𝑦2 + 𝑅𝑧2

4) And directions with + x, + y and + z axis –

𝑅𝑥 𝑅𝑦 𝑅𝑧
Cos θx = 𝑅
, Cos θy = 𝑅
, Cos θz = 𝑅

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D) Moment of a force about a point in space –.

Moment of a force a force ‘F’ about point ‘C’ is

vector product (cross product) of position
vector and force vector.

̅ 𝑭𝒄 = 𝒓̅ × 𝑭
𝑴 ̅
Where - 𝒓̅ – Position vector of any point on
the line of action of force w.r.t.
moment centre. (vector extending
from moment centre to any point
̅̅̅̅ 𝑜𝑟 𝐶𝐵
on the force) i. e. 𝐶𝐴 ̅̅̅̅
F – Force vector

Direction of moment vector is perpendicular to the

plane containing position vector and force
vector.
It’s direction can be decided by using right hand
thumb rule.

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Class Work Problems-

1) A force vector is given as F = 24 i + 15 j – 7) Five forces are acting at point A (2, -3, 5)
m find their resultant.
20 k find the angles that the force makes (i) Force F1 is 20 N & is directed towards
with x, y & z axes. B (0, -3, 1) m.
[Ans: - θx = 46.180, θy = 64.360, θz = 125.240]
(ii) Force F2 is 50 N & it makes 550 & 950
with x & y axes.
2) A force of magnitude 1500 N makes angle
(iii) Force F3 is 25 N & it makes 700 & 600
of 700, 1200 & 37.280 respectively with x, y
with x & z axes & y component is –ve.
& z axes express the force vector.
(iv) Force F4 is 30 N parallel to y axis.
[Ans: - F = 1500(0.34 i – 0.5 j + 0.796 k )] (v) Force F5 is 60 N parallel to z axis but –
ve direction.
3) A force 30 N is acting at point P (3, 2, 1) m. [Ans: - R = 28.31 i + 5.74 j - 24.68 k N, R = 38 N,
The force makes 350 & 850 with x & y axes θx = 41.840, θy = 81.30, θz = 130.50]
respectively. Express the force in vector
form.
8) Three forces F1, F2 and F3 act at the origin
[Ans: - F = 24.57 i + 2.614 j + 17 k ] of Cartesian coordinate system. The
force F1 (= 70 N) acts along OA whereas
4) A force of 10 kN is acting at origin & it F2 (= 80 N) acts along OB and F3 (=
makes angle 850 & 1100 with x & z axes. 100N) acts along OC. The coordinates of
Express the force in vector form if the points A, B and C are (2, 1, 3), (-1, 2,
component of force along Y axis is opposite 0), (4,-1, 5) respectively. Find the
in Y direction. resultant of this force system. (May 19)
[Ans: - F = 0.87 i – 9.36 j – 3.42 k ] [Ans: R = 63.36 i + 74.83 j +133.27 k (N) ]

5) A force acts at the origin in the direction 9) The line of action of three forces
defined by the angles θy = 650 & θz = 400. concurrent at origin ‘O’ pass respectively
Knowing that the x-component of the force through points A (-1, 2, 4), B (3, 0,-3) and
is 750 N. Determine (i) the other C (2, 2, 4) m. the magnitude of forces are
components. (ii) Magnitude of the force & 40N, 10N and 30N respectively.
(iii) the value of x. Determine the magnitude and direction
[Ans: - (i) Fy = 654.45 N, Fz = 1186.26 N, (ii) of the resultant. (May-14)
F = 1588.55 N (iii) θx = 61.030]
[Ans: R = 10.59 i + 5.21 j - 52.65 k (N), R
Resultant of concurrent force system in space- = 53.653 N, θx = 78.620, θy = 84.430,
θz = 12.460]
6) Forces of 20 N, 15 N, 30 N & 50 N are
concurrent at the origin & are respectively 10) Find the resultant of the spatial
directed through the points whose co- concurrent force system concurrent at A
ordinates are (2, 1, 6) (4, -2, 5) (-3, -2, 1) (1, 0, 0) and passing through points B (-
& (5, 1, -2). Determine the resultant of the 1, 3, 5), C (3, 5, 7) and D (0, 4, 0).
system. Magnitude of the forces FAB = 10 0N, FAC
[Ans: - R = 36.78 i – 8.26 j + 10.74 k N, = 150 N, FAD = 200 N. (May-16)
R = 39.2 N, θx= 20.240, θy=102.160, θz = 74.10] [Ans: R = - 47 i + 327.64 j + 200.07 k (N)]

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11) Three forces P, Q and T act at point B. find

the resultant of these forces. Fig. Sum 13
[Ans: R = - 74.49 i -127.09 j -18.02 k (N)]

12) Knowing that tension in AC is TAC = 20 Moment of a force about a point in space.
kN, determine the required values of
tension TAB & TAD so that the resultant of 14) A force 30 N is acting along AB where A
three forces applied at A is vertical & (5, 4, 3) & B (3, -4, 0) m find moment of
calculate resultant. force about point C (-2, 3, 5) m find its
[Ans: - TAB = 37.22 kN, & TAD = 61.75 kN moment about origin.
R = 110.4 kN (↓)]
[Ans: - M C = -64.6 i + 85.47 j – 184.62 k N-m]

15) A force of 22 N acts through the point A

(4, -1, 7) m in the direction of vector
9 i + 6 j – 2 k . Find the moment of the
force about the point O (1, -3, 2).
[Ans: - M o = - 68 i + 102 j N-m]

16) A force F = 3 i – 4 j + 12 k acts at a point

A (1, -2, 3) m. Find
(i) The moment of the force about the
origin.
(ii) The moment of this force about the
point B (2, 1, 2) m.
[Ans: - (i) M O = -12 i -3 j + 2 k N-m
13) The resultant of three concurrent forces at
A is R = (-788 j) N. Find the magnitudes of (ii) M B = -32 i + 15 j + 13 k N-m]
F1, F2 & F3 force.
[Ans:- F1 = 153.48 N, F2 = 320.3 N,
F3 = 400.39 N ]

17) A force P1 = 10 N magnitude is acts along direction AB whose co-ordinates of points A & B
are (3, 2, -1) & (8, 5, 3) respectively. Another force P2 = 5 N in magnitude acts along BC where
C has co-ordinates (-2, 11, -5). Determine
(i) The resultant of P1 & P2 in its vector form. [Ans: - (i) R = 3.535 i + 6.36 j + 2.83 k N. ]

18) Force 5 kN is acting along AB where A (0, 0,-1) m and B (5,-2,-4) m. Another force 8 kN is
acting along BC where C (3,3,4) m. Find resultant of two forces.
[Ans: R = 2.396 i + 2.523 j + 4.2 k (kN).

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Chapter 6
Kinematics of particles

A) RECTILINEAR MOTION

When a particle moves along a straight line, OR When path traced by a particle is a straight line
then motion executed by the particle is known as rectilinear motion.

Important terms in rectilinear motion-

i) Displacement - (s, x or y)
It is the position occupied by particle at any instant of time ‘t’ with reference to a fixed point. Such
fixed point is usually referred as the origin O.

It is minimum distance of particle from the origin at any time t.

For horizontal motion-

Displacement at time t1 = +S1

Displacement at time t2 = +S2
Displacement at time t3 = -S3

For vertical motion

Displacement at time t1 = +S1

Displacement at time t2 = -S2

Displacement is a vector quantity & it is irrespective of direction of motion.

ii) Distance: - It is defined as the total length of path (total distance) covered by a particle during the
given time interval. It is scalar quantity.

e.g. A particle moving along semicircular path.

Distance travelled = πR
Displacement = 2R

Distance travelled by a particle from time t1 to t2

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• Let a particle moves in the same direction from time t1 to t2.

Let - St1= Displacement at time t1

St2 = Displacement at time t2

• Distance travelled by particle from t1 to t2 (in time interval t1 to t2) when moves in the same
direction =length AB =
d(t1 – t2) = |𝑺𝒕𝟐 − 𝑺𝒕𝟏 |

• If the particle reverses its direction of motion in interval t1 to t2, at time t

( t lies in between t1 to t2)

Let - St1= Displacement at time t1

St = Displacement at time t
St2 = Displacement at time t2

• Distance travelled by the particle from t1 to t2 when it reverse the direction of motion
d(t1 – t2) = length AC + length CB
= d(t1 – t) + d(t – t2)
=|𝑺𝒕 − 𝑺𝒕𝟏 | + |𝑺𝒕 − 𝑺𝒕𝟐 |
i.e. split the interval in two parts from t1 to t & t to t2

• When a particle moves in same direction then distance travelled is equal to displacement, but if
particle reverse direction of motion then Distance > Displacement.
Hence it is concluded that Distance ≥ Displacement

iii) Average Velocity & Instantaneous velocity:-

The average velocity of a particle for a time interval Δt is defined as quotient of displacement Δs to the
time interval Δt.
∆S
Average velocity =
∆t
𝑆𝑓 − 𝑆𝑖
𝐴𝑣𝑒𝑟𝑎𝑔𝑒 𝑉𝑒𝑙𝑜𝑐𝑖𝑡𝑦 =
𝑡𝑓 − 𝑡𝑖

Where: Sf = Final Displacement & Si = Initial Displacement.

tf = Final time & ti = Initial time.

The velocity (instantaneous velocity) of a particle at any particular instant is the rate of change of
displacement.
ds
V=
dt

Speed: Magnitude of velocity is known as speed

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𝑇𝑜𝑡𝑎𝑙 𝑑𝑖𝑠𝑡𝑎𝑛𝑐𝑒 𝑡𝑟𝑎𝑣𝑒𝑙𝑙𝑒𝑑
𝐴𝑣𝑒𝑟𝑎𝑔𝑒 𝑆𝑝𝑒𝑒𝑑 =
𝑇𝑜𝑡𝑎𝑙 𝑇𝑖𝑚𝑒

iv) Average acceleration & Instantaneous acceleration:-

The average acceleration is defined as rate of change of velocity of a particle for a time interval Δt.

∆V
Average acceleration =
∆t
𝑣𝑓 − 𝑣𝑖
𝐴𝑣𝑒𝑟𝑎𝑔𝑒 𝑎𝑐𝑐𝑒𝑙𝑒𝑟𝑎𝑡𝑖𝑜𝑛 =
𝑡𝑓 − 𝑡𝑖

Vf = Final Velocity & Vi = Initial Velocity

tf = Final time & ti = Initial time.
The acceleration (instantaneous acceleration) of a particle at any particular instant is the rate of change
of Velocity.
dv
𝑎=
dt

The acceleration is vector quantity & may be positive or negative.

Positive value of ‘a’ represents increase in velocity & negative value of ‘a’ represents decrease in
velocity, which is known as deceleration or retardation.

A) UNIFORM ACCELERATION MOTION (UAM): (a = const.)

When particle moves with a constant acceleration then one can use following three kinematic
equations for rectilinear motion.
𝟏
v = u + at v2 = u2 + 2as 𝒔 = 𝒖𝒕 + 𝒂𝒕𝟐
𝟐

Where : u = Initial velocity of particle

v = Final velocity of particle
a = acceleration of particle
s = displacement (position) of particle at time t.
In above equation it is assumed that the particle begins its motion from origin, i.e. initial displacement
S0 = 0
If particle does not begins from origin then
𝟏
𝐒 = 𝐒𝟎 + 𝒖𝒕 + 𝐚𝐭 𝟐
𝟐

If the particle moves with uniform velocity (i. e. a = 0), Then 𝒔 =𝒗𝒕

• Distance travelled in nth second:

When a particle moves with uniform acceleration ‘a’ & if initial velocity is ‘u’
1
The displacement of particle at ‘n’ sec. Sn = un + an2
2
1
The displacement of particle at (n-1) sec. S(n−1) = u(n − 1) + 2 a(n − 1)2

Distance travelled in nth second of its journey, dn = Sn − S(n−1)

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𝒂
𝒅𝒏 = 𝒖 + (𝟐𝒏 − 𝟏)
𝟐

B) VARIABLE ACCELERATION MOTION (VAM):

Case 1: When a = f (t) Case 2: When a = f (s)

𝑑𝑣 𝑑𝑣
= 𝑓(𝑡) 𝑣 = 𝑓(𝑠)
𝑑𝑡 𝑑𝑠

∫ dv = ∫ f (t) dt ∫ v dv = ∫ f (s) ds

v = 𝑔 (t) + c ----Relation between v & t v = 𝑔 (s) + c ----- Relation between v & s

Use boundary condition to find constant of Use boundary condition to find constant of
integration ‘c’. If boundary conditions are not integration ‘c’
given then assume, that the particle starts its
motion from rest and origin. v = g (s)
i. e. at t = 0, v = 0, s = 0.
𝑑𝑠
= 𝑔(𝑠)
v = g (t) 𝑑𝑡

𝑑𝑠 𝑑𝑠
= 𝑔(𝑡) ∫ = ∫ 𝑑𝑡
𝑑𝑡 𝑔 (𝑠)

∫ ds = ∫ 𝑔 (t) dt s = Ø (t) + c1 ---Relation between s & t

s = Ø (t) + c1 ---Relation between s & t

Case 3: When a = f (v) When a = f (v)

𝑑𝑣 𝑑𝑣
= 𝑓(𝑣) 𝑣 = 𝑓(𝑣)
𝑑𝑡 𝑑𝑠
dv v dv
∫ = ∫ dt ∫ = ∫ ds
f(v) f(v)

v = 𝑔 (t) + c ---- Relation between v & t v = 𝑔 (s) + c ---- Relation between v & s

Use boundary condition to find constant of Use boundary condition to find constant of
integration ‘c’ integration ‘c’

v = g (t) v = g (s)

𝑑𝑠 𝑑𝑠
= 𝑔(𝑡) = 𝑔(𝑠)
𝑑𝑡 𝑑𝑡

∫ ds = ∫ 𝑔 (t) dt 𝑑𝑠
∫ = ∫ 𝑑𝑡
𝑔 (𝑠)

s = Ø (t) + c1 ----Relation between s & t s = Ø (t) + c1 ----Relation between s & t

C) MOTION CURVES:

When acceleration, velocity and displacement are plotted against time then it is known as motion curves.

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[Use this method when acceleration is different in different intervals of time.]

Properties of motion curves:

1) a – t Curve :-

𝑎 = f (t)
dv
a =
dt
dv
= f(t)
dt
𝑣2 t2
∫ 𝑑𝑣 = ∫ f(t) dt
𝑣1 t1
t2
𝑣2 − 𝑣1 = ∫ f(t) dt
t1
Δv = Area under a-t diagram from interval t1 to t2

Properties of a-t curve:

1) The area measured under a-t curve from t1 to t2 gives the change in velocity in that interval of time.
2) The time where a-t curve changes it sign at that time velocity is maximum or minimum.
3) a-t diagram can also be used for calculating the position of the particle any time by using formula.

∆x = V0 * (∆t) + (moment of area under a-t curve about end of the interval)
Where V0= velocity at the beginning of the interval

2) v – t Curve :- 𝑣 = f (t)
ds
v =
dt
ds
= f(t)
dt
s2 t2
∫ 𝑑𝑠 = ∫ f(t) dt
s1 t1
t2
𝑠2 − 𝑠1 = ∫ f(t) dt
t1
Δs = Area under a-t diagram from interval t1 to
t2

Properties of v-t curve:

1) The area measured under v-t curve from t1 to t2 gives the change in displacement.
2) Total area under v-t curve (without considering sign) gives total distance travelled in that
interval of time.
3) The time where v-t curve changes it sign, at that time displacement is maximum, and the particle
reverse the direction of motion.
4) If area under v-t curve is +ve, then displacement is equal to distance travelled.
𝑑𝑣
5) Slope of v-t curve at any point ( 𝑑𝑡 ) gives the acceleration of particle at that point.

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3) s – t Curve :-
Properties:
𝑑𝑠
1) Slope of s-t curve at any point (𝑑𝑡) gives
the velocity of particle at that time.

Note:
1) Equation of v-t curve is one degree more than equation of a-t curve.
2) Equation of s-t curve is one degree more than equation of v-t curve.

CURVILINEAR MOTION

When a particle moves along a curved path or when path traced by the particle is curve then
motion is known as curvilinear motion.

The plane curvilinear motion problems can be solved by two methods

1) Cartesian (x-y) co-ordinate method:
2) Tangential and Normal (t-n) components.

1) Cartesian (x-y) Co-ordinate method:

Curvilinear motion is a combination of horizontal (x-direction) and vertical motion (along y-
direction)

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𝑟̅ = position or displacement vector

x = Horizontal component of displacement
y = vertical component of displacement.

Let P be the position of particle at any time t then position vector is 𝑟̅ = 𝑥𝑖̅ + 𝑦𝑗̅
Where x & y are the horizontal & vertical components of displacement (position vector)

Horizontal Component of displacement Vertical Component of displacement

x = f (t) ------- (1) y = f (t) ------- (2)

Displacement /position vector 𝑟̅ = 𝑥𝑖̅ + 𝑦𝑗̅ m

Displacement = √𝑥 2 + 𝑦 2
𝑦
𝜃𝑟 = tan−1
𝑥

• Velocity in curvilinear motion:

In curvilinear motion the resultant velocity vector ‘v’ at any time‘t’ is tangential to the path at that
instant & direction is consistent with the direction of motion.
vx & vy are horizontal & vertical component of velocity.

Horizontal component Vertical component of

of velocity velocity
𝑑𝑥 𝑑𝑦
𝑣𝑥 = 𝑣𝑦 =
𝑑𝑡 𝑑𝑡

• Resultant velocity vector 𝑣̅ = 𝑣𝑥 𝑖̅ + 𝑣𝑦 𝑗̅

• Magnitude of velocity 𝑣 = √𝑣𝑥2 + 𝑣𝑦2
𝑣𝑦
• Direction of velocity 𝜃𝑣 = tan−1 (𝑣 )
𝑥

• Acceleration in curvilinear motion:

In Curvilinear motion acceleration vector may act in any direction. (In the direction of
unbalanced force.)

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Horizontal component Vertical component of
of acceleration acceleration
𝑑𝑣𝑥 𝑑𝑣𝑦
𝑎𝑥 = 𝑎𝑦 =
𝑑𝑡 𝑑𝑡

• Resultant acceleration vector 𝑎̅ = 𝑎𝑥 𝑖̅ + 𝑎𝑦 𝑗̅

• Magnitude of acceleration 𝑎 = √𝑎𝑥2 + 𝑎𝑦2
𝑎
• Direction of acceleration 𝜃𝑎 = tan−1 (𝑎𝑦 )
𝑥

• Horizontal component of acceleration (ax) is responsible for change in horizontal component of

velocity (vx), as both act in the same direction (along x axis).
• Similarly vertical component of acceleration (ay) is responsible for change in vertical component
of velocity (vy) as both act in the same direction (along y axis).
• If ax & ay are constant then one can use, kinematic equation of motion in components form
along X & Y direction separately.

Vx = ux +ax t Vy = uy +ay t
X = uxt + ½ axt2 Y = uyt + ½ ayt2

• When rectangular components of motion are given then the radius of curvature (ρ) of path at
any time‘t’ is given by,
𝟑
(𝐯𝐱𝟐 + 𝐯𝐲𝟐 )𝟐
𝝆=| |
𝐯𝐱 𝐚𝐲 − 𝐯𝐲 𝐚𝐱

• To find equation of path of particle combine equation 1 & 2 (Components of displacement

vector) by eliminating ‘t’ & get the relation between x & y in the form of y = f(x) or x = f(y)
• When x & y components of motion are given then use above Cartesian co-ordinate method to
solve problem.

2) Tangential & Normal Component:

When particle moves along a curved path, the

velocity is tangential to path (i.e. it doesn’t have
normal component)

But acceleration can be resolved along tangent

(at) & normal (an)

• Component of acceleration along normal to the path is known as normal component of

acceleration & is given by

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𝒗𝟐
𝒂𝒏 =
𝝆

where an = magnitude of normal component of acceleration

v = Instantaneous speed (Magnitude of velocity)
ρ = radius of curvature

• Normal component of acceleration (an) is always directed towards centre of curvature.

• Component of acceleration along tangent to the path is known as tangential component of

acceleration & is given by
𝒅𝒗
𝒂𝒕 = 𝒅𝒕 (Rate of change of speed)

̅ = ̅𝒂̅̅𝒏̅ + ̅̅̅
Resultant acceleration 𝒂 𝒂𝒕
Magnitude of acceleration is given by : 𝒂 = √𝒂𝟐𝐧 + 𝒂𝟐𝐭 &
𝒂𝒏
Direction 𝐭𝐚𝐧 𝜶 = 𝒂𝒕
Where α is the angle made by acceleration with tangent.
• Tangential component of acceleration is responsible for change in the magnitude of velocity.
If the magnitude of velocity is constant (i.e. particle is moving with constant speed ) then, at =
0

• Tangential component of acceleration at will be in the direction of velocity vector if the speed
is increasing & in the opposite direction if the speed is decreasing.

• Normal component of acceleration is responsible for change in direction of velocity & always
directed towards the centre of curvature.

• When at is constant during curvilinear motion then we can use kinematic equations for
curvilinear motion of a particle.
𝟏
v = u + at t v2 = u2 + 2 at s 𝒔 = 𝒖𝒕 + 𝟐 𝒂𝒕 𝒕𝟐

Where : u = Initial speed of particle

v = Final speed of particle
at = tangential component of acceleration.
s = Distance measured along curved path.

• If equation of path is expressed as y = f(x) then radius of curvature is given by

3
dy 2 2
| [1 + ( ) ] |
dx
𝜌=
| d2 y |
( 2)
dx

• Use the above method when equation of path is given

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Classwork Problems

➢ Rectilinear Motion

1) Variable acceleration motion (VAM)

1) The acceleration of the train starting from 6) The relation between velocity of a particle
rest at any instant is given by the expression & time is expressed as v = - 3t2 + 180t. How
8 far the particle would have travel between t
𝑎 = (𝑣 2 +1) , where V is the velocity of train
= 4 sec to t = 10 sec & what will be the
in m/s. Find the velocity of the train when acceleration at these two times. Find also
its displacement is 20 m. and its the distance traveled in first 70 sec.
displacement when velocity is 64.8 kmph [Ans: x10 – x4 = 6624 m, a4 = 156 m/s2,
(May 17) a10 = 120 m/s2, Dist. traveled in 70
[Ans: v = 4.93 m/s, s = 3300.75 m] sec=118000 m]

2) Acceleration of a particle moving along 7) A particle moving in the +ve x direction has
straight line is represented by the relation a an acceleration a = (100 - 4v2)
= 30 – 4.5 x2 m/s2. It starts with zero initial m/s2. Determine the time interval and
velocity at x = 0. Determine (a) the velocity displacement of the particle when speed
when x = 3m. (b) The position when the changes from 1 m/s to 3 m/s. (Dec 12)
velocity is again zero (c) The position when [Ans: ∆t = 0.0245, ∆s = 0.051m]
velocity is maximum, also find the
maximum velocity. (Dec 14) 8) A particle starts from rest, from origin and
[Ans: v = 9.95 m/s, x = ±4.47 m, V max = 10.16 𝑘
its acceleration is given by 𝑎 = (𝑥+4)2
m/s]
m/s2. Knowing that v = 4 m/s when x = 8
3) For a particle in rectilinear motion m, Find (i) value of k and (ii) position
a = - 0.05v2 m/s2, at v = 20 m/s, x = 0. Find when v = 4.5 m/s.
x at v = 15 m/s and acceln at x = 50 m. [Ans: k = 48, x = 21.6 m]
(May 13)
[Ans: x=5.75m, a = -0.1347m/s2]

4) The velocity of a particle travelling in a

straight line is given by v = 6t – 3t2 m/s.
Where t is in seconds. If s = 0 when t = 0,
determine the particle’s deceleration and
position when t = 3sec. How far the particle
travelled during the 3 second time interval
and what is the average speed? (Dec 15 old)
[Ans: a = -12 m/s2, s = 0,
Total distance = 8m,Avg speed = 2.67 m/s]

5) A particle moves along a straight line with

acceleration a = -8/s2 m/s2. At t = 1s,
s = 4m and v = 2 m/s. determine
acceleration when t = 3 sec
[Ans: a = -0.147 m/s2]

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2) Motion Curves 4) For the particle a-t diagram is shown in fig.
Construct s-t and v-t diagram. (Dec 16)
1) Fig shows a plot of ax v/s time for a particle [Ans: v15 = -10 m/s, s15 = 75m]
moving along x axis what is speed &
distance covered by the particle after 50
sec? Find also the maximum speed & the
time at which the speed is attain by the
particle, also plot v-t & x-t curve.
[Ans: - s50 = 9600 m, v max= 420 m/s at t = 50
sec]

5) A particle moves in a straight line with a

velocity-time diagram shown in figure. If s
= -25 m at t = 0, draw s-t and a-t diagram
for 0 to 24 seconds. (May 14)
[Ans: a24 = 0, x24 = -145 m]

2) From the following a-t diagram find the

distance travelled by a particle in 50 sec.
[Ans : d = 9600 m]

6) The V-X graph of a rectilinear moving

particle is shown. Find acceleration of the
particle at 20 m, 80m, and 200m. (Dec 17)
3) A particle is projected with an initial [Ans: a20 = 2m/s2, a80= 0, a200 = -1 m/s2]
velocity of 2 m/s along a straight line. The
relation between acceleration and time is
given in the diagram. Draw v-t and x-t
diagrams.
[Ans: V10 = 26 m/s, x10 = 98 m]

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➢ Curvilinear Motion- 2) Normal and Tangential components-
1) A point moves along a path y= x2/3 with a
constant speed of 8 m/s. what are the x and
1) Cartesian Components Method
y components of its velocity when x = 3?
1) The motion of a particle is defined by the
What is the acceleration of the point at this
relation x =t2 + 5t & y = t3– 8t2 + 2 where
instant? (Dec 12)
x & y are expressed in meter & t is in sec.
[Ans: vx =3.58 m/s, vy =7.16 m/s, a=8.21 m/s2]
Determine the velocity & acceleration at
t = 2 sec.
2) A particle is moving in x-y plane along a
[Ans: - v = 21.932 m/s, θv = 65.770,
a = 4.47 m/s2, θa = 63.440] parabolic path given by y = 1.22 x with x
& y in meter. At position A, the particle has
2) A particle moves in x-y plane with a speed of 3 m/s & increasing at the rate of
acceleration component ax = -3 m/s2 & ay 3 m/s2 along the path.
= -16 m/s2. If its initial velocity is v0 = 50 What is the total acceleration of the particle at
m/sec directed at 300 to x axis. Compute this position?
radius of curvature of the path at t = 2 sec. Also find the velocity components along x & y
[Ans: -  = 88.48 m] directions.
[Ans: - (i) a = 3.187 m/s2 ,
3) A particle moves in a plane with constant Vx =2.68 m/s, Vy = 1.34 m/s]
acceleration a = 4i m/s2. At t = 0 the
velocity of the particle was v0= i + 1.732 j
m/s. Find the velocity of the particle at t
= 1 sec. (May -2010, 8 Marks)
[Ans: V = 5.29 m/s]

4) A curvilinear motion of a particle is defined

by Vx = 25 – 8t m/s and y = 48 –3t2 m. At
t = 0, x = 0. Find out the position, velocity
and acceleration at t = 4 sec.
(May 13) 3) A rocket follows a path such that the
[Ans: x = 6m, v = 25 m/s, a =10 m/s2] acceleration is given by 𝑎̂=(4i+tj) m/s2. At t =
10 sec determine (i) speed of the rocket (ii)
5) The y coordinate of a particle is given by y radius of curvature of the path (iii) magnitude
= 6t3 – 5t. if ax = 14t m/s2 and of normal and tangential components of
Vx = 4 m/s at t = 0, determine the velocity acceleration. (May 15 Old)
and acceleration of particle when t = 1sec. [Ans: (i) v = 64.03 m/s, (ii) ρ = 1313.4 m,(iii)
(May 15) aT = 10.308 m/s2, an = 3.12 m/s2]
[Ans: v1 = 17.03m/s, a = 38.63m/s2]
4) A racing car travelling on a circular curve
6) If x = 1- t and y = t2 where x and y are in ABC of 400 m radius increases its speed
meters and t is in second, determine x and uniformly from 72 kmph at A to 108 kmph
y components of velocity and acceleration. at C over a distance of 300 m along the
Also write equation of path traced by the curve. What was the total acceleration of
particle. the car when it was at B, 250 m from A.
[Ans: vx = -1 m/s, vy = 2t m/s. ax = 0, ay = 2 Also find the total acceleration of the car
m/s2. y = (1-x)2] when it was at A and at C.
[Ans: aB =2.2m/s2,aA = 1.3m/s2,ac = 2.4 m/s2.]

5) A car starts from rest and moves along a

circular path having a radius of 20 m. Its
speed increases at a uniform rate of 0.5
m/s2. Find the time from the start and
distance travelled when its resultant
acceleration becomes 1.5m/s2. (May 18)
[Ans: t = 10.64 sec]

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6) A particle travels on a circular path, whose distance is defined by
S = (0.5t3+3t)m. If the total acceleration is 10 m/s2, at t = 2sec, find its radius and curvature.
(Dec 15)
[Ans: ρ = 10.125 m]

7) A particle moves along a circular track with constant tangential acceleration of 0.28 m/s2. It starts
at rest from point A as shown in fig. Find the velocity & acceleration component of the particle
along x & y direction when it reaches point B.
[Ans: - vx = 0.214 m/s, vy = 0.587 m/s,
ax = 0.279 m/s2, ay = 0196 m/s2]

8) A particle moves along a circle of radius 20 cm so that s = 20πt 2 cm. Find its tangential and
normal components of acceleration after it has completed a revolution.
(May-10, Marks-08)
[Ans: at = 125.66 cm/s2, an = 1579.14 cm/s2]

9) A particle travels along the path defined by the parabola y = 0.5 x2. If the x-components of
velocity is Vx = 5t m/s, determine the distance of particle from the origin O and the magnitude
of total acceleration when t = 1sec. At t =0, x =0 & v =0 (May-11)
[Ans: r = 4 m, a = 37.83 m/s2]

10) A particle moves in X – Y plane and its position is given by r = (3t)i + (4t – 3t2) j, where r is the
position vector of particle in meters at time t sec. Find the radius of curvature of the path and
normal and tangential components of acceleration when it crosses X – axis again. (May 19)
[Ans: ρ= 6.94 m, an = 3.6 m/s2, at = 4.8m/s2]

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HomeWork Problems-

➢ Rectilinear Motion 6) The velocity of the particle is given by the

equation v = (8 – 0.02 s) m/s where v is the
1) Variable acceleration motion (VAM) velocity in m/s & s is the displacement in
meters. Knowing that at t = 0, s = 0,
1) The car moves in a straight line such that determine (i) distance travel before the
for a short time its velocity is defined by v particle comes to rest (ii) acceleration at
= (9t2 + 2t) m/s. where t is in seconds. start (iii) time required for 100 m
Determine the position and acceleration displacement.
when t = 3 sec.(Dec 12) [Ans: (i) s = 400 m, (ii) a = 0.16 m/s2,
[Ans : x = 90 m, a = 56 m/s 2] (iii) t = 14.384 sec.]

2) A particle starts from rest at t = 0 and 7) Acceleration of a particle is defined by the

𝜋
travels in one particular direction. Its relation a = 100 sin( 2 𝑡) where ‘a’ is
rectilinear motion is given by the relation expressed in mm/s2 & t is in seconds
v = (9t2 - 18t) m/s where t is in seconds. knowing that at t = 0, x = 0 & v = 0 in the
Determine the time at which the particle usual notations.
reaches at its maximum displacement. Determine (i) Maximum velocity of
Also determine its displacement and particle (ii) Position & velocity of particle
acceleration at t = 2 sec. (May 18) at t = 4 sec.
[Ans: t = 2sec, s = -12 m, a = 18 m/s2] [Ans: (i) vmax = 127.3 mm/s
(ii) x = 254.65 mm, v = 0 ]
3) The position of a particle which moves
along a straight line is given by x= 8) The acceleration of an oscillating particle
t3-6t2-15t+40, where x is in meters and t is is defined by the relation a = -kx.
in seconds. Find the time at which velocity Determine (i) the value of k such that v =
will be zero. Also find the position of the 15 m/s when x = 0 and v = 0 when x =
particle at that time. (May 17) 3m (ii) the speed of the particle when x =
[Ans: t = 5 sec, x = -60 m] 2 m. (May 17)
[Ans: k = 37.5, v = 8.66 m/s]
4) Velocity of the particle starting from rest
is given by V = (3 + 4t) m/s. Determine the 1) Motion Curves
distance travelled by the particle in the 6th
second. What is its acceleration at the end 1) Acceleration –time (a-t) diagram for a
of 5 seconds? At what time its velocity particle moving in a straight line is shown
becomes 33 m/s? (May 16 Old) below. Draw v-t and x-t diagram. (May 15]
[Ans: d6th = 25m, a5= 4m/s2, t= 7.5sec]

5) The motion of the particle is defined by the

relation a = (0.8 t) m/s2 where t is in sec. it
is found that at x = 5 m, v = 12 m/s when
t = 2 sec. find the position and velocity at
t = 6 sec.
(May 18)
[Ans: s = 298.33 m, v = 140 m/s2]

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2) The a-t diagram for linear motion is 5) Velocity-time diagram for a particle
shown. Construct v-t and s-t diagram for travelling along a straight line is shown in
the motion assuming that the motion starts Figure. Draw acceleration-time and
with initial velocity of 5 m/s from starting displacement-time diagram for the
point. Also determine displacement at t = particle. Also find important values of
12 sec. (Dec 15, Dec 16) acceleration and displacement. (Dec 18)
[Ans: V12 = 14 m/s, S12 = 102 m] [Ans: a30 = 4 m/s2, s30 = 750 m]

3) A v-t graph for a particle performing

6) The race car starts from rest and travels
rectilinear motion is shown. If at t = 0, x =
along a straight road until it reaches a
0, draw the x-t and a-t graphs.
speed of 42 m/s in 50 seconds as shown by
(Dec 16 old)
v-t graph. Determine the distance travelled
by the race car in 50 seconds. Draw x-t and
a-t graph. [Ans: d = 960 m.]

4) From v-t diagram find (i) distance

travelled in 10 sec. (ii) total distance
travelled in 50 sec. (iii) retardation.
(May 17)
[Ans: S10 = 100 m, S50 = 600 m,
retardation = 0.667 m/s2 ]
7) A train leaves station A and attains speed
at the rate of 4 m/s2 for 6 seconds and then
6m/s2 till it reaches a velocity of 48 m/s.
further the velocity remains constant, then
breaks are applied giving the train a
constant deceleration stopping it in 6
seconds. If the total running time between
the two stations is 40 sec. Plot a-t, v-t
graphs and determine the distance between
the two stations. (May 18)
[Ans: distance = 1542 m.]

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➢ Curvilinear Motion 2) Normal and Tangential components-

1) Cartesian Components Method 1) A particle moves along a track which has a

parabolic shape with a constant speed of 10
1) The position vector of a particle which m/s. the curve is given by y = 5 + 0.3x2. find
moves in the X – Y plane is given by 𝑟̅= ( the components of velocity and the normal
3t3 – 4t2 ) 𝑖̅ + ( 0.5t4 ) 𝑗̅ m. calculate velocity acceleration when x = 2 m.
and acceleration at t = 1sec. (Dec 17) (Dec 14)
[Ans: v = 2.34 m/s, a = 11.66 m/s] [Ans: vx=6.4 m/s, vy=7.68 m/s,
an = 1.84 m/s2]
2) A particle is moving in X – Y plane and its
position is defined by
3 2 2) A particle is projected to move along a
𝑟̅ = (2 𝑡 2 )i + (3 𝑡 3 )j. Find the radius of parabola y2 = 4x. At a certain instant when
curvature when t = 2 sec. (Dec 17) passing through a point P (4, 4) its speed is 5
[Ans: ρ = 8.1 m] m/sec & the rate of increase of speed is 3 m/s2
along the path. Express the velocity &
3) A stone is thrown with a velocity (u) m/s acceleration of the particle in terms of
at an angle of 200 with horizontal from a rectangular co-ordinates.
point 2 m above the ground. The stone
[Ans: - v = 4.47 i + 2.235 j m/s,
strikes the ground 5 m away from the
original position. The motion of the stone a = 3.18 i + 0.34 j m/s2]
is subjected to gravitational acceleration
and wind resistance of 0.82 m/s2, opposing 3) A train enters a curve of radius 800 m with a
the horizontal motion. Determine the time speed 72 kmph. Determine magnitude of total
of flight of the stone. (May 16) deceleration at the instant the brakes are
[Ans: t = 0.9 sec] applied so that the train stops by covering a
distance of 500 m along the curve. Also
4) The motion of a particle is defined by the determine the time required by train to come
equation x = 2cos (πt) & to rest.
y = 1- 4cos (2πt) where x & y are in mm & [Ans: - at = 0.4 m/s2 (deceleration)
t is in sec. Show that path of particle is a a = 0.64 m/s2, t = 50 sec.]
parabola & determine velocity &
acceleration when t = 0.
[Ans: v=0, a=16.12π2 m/s2, α= 82.870]

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Chapter 7
Kinematics of Rigid Bodies-

A rigid body can undergo following three types of motion

1) Translation Motion
2) Rotational Motion
3) Rotational plus translational (General plane motion)

1) Translational motion-

A motion of rigid body is said to be translation when all the particles forming the body move along
parallel path.
a) Rectilinear translation: If the paths traced
by all particles are parallel straight lines
then it is known as rectilinear translational
motion.
e.g. Motion if piston

a) Curvilinear translation: If the paths

traced by all particles are parallel curves
then it is known as curvilinear
translational motion.
e.g. Parallel link swinging plate

In translational motion linear velocity of any point on the rigid body is same at any instant t.
i.e. VA=VB

2) Rotational Motion:-

A motion is said to be rotational when the particles

on the body moves along concentric circles i.e. the
path trace by the particles are concentric circles.
The point about which body rotated is known as
centre of rotation & axis passes through centre of
rotation & perpendicular to plane of rotation is known
as axis of rotation.
• Centre of rotation may lie on the body or outside
the body.
• If centre of rotation is located on the body is
remains fixed.
• If it is located outside the body none of the point on
the body remains fixed.
e.g. Motion of fan blades

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• Relation between linear & angular quantities.

When body rotates through angle θ, then S is the
distance travelled by particle P, along curved path. If r
is the distance of point from centre of rotation then-

𝑠=𝑟𝜃
𝑣=𝑟𝜔

Where ω is angular velocity of body & v is linear velocity of point P.

As point P moves along curved path, its motion is curvilinear motion hence linear velocity (of point
P) is tangential to path traced by the point P i.e. perpendicular to line joining point with centre of
rotation.

3) General Plane Motion (G.P.M):-

• Any plane motion which is neither a
translation nor a rotation is known as
General Plane Motion.
• The combination of rotation & translation
motion is called General Plane Motion.
• In general plane motion there is change in
linear position as well as change in
angular position of a body takes place.

e.g. Rolling motion of wheel, Motion of earth.

In general plane motion, which is combined motion of rotation & translation, it is possible to locate
an imaginary point about which a body may be assumed to have pure rotational motion, without
performing any motion of translation.
This imaginary point about which the body is assumed to have pure rotational motion is called as
instantaneous centre of rotation (I.C.R.) which is denoted by I.

• Properties of I.C.R

• Linear Velocity of ICR is zero, hence it is also known as ‘Instantaneous centre of zero velocity’
(ICZV).
• ICR is an imaginary point.
• ICR may lie inside or outside body.
• Position of ICR is changing at every instant & it is not a fixed point.

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• Location of ICR.

1. When velocities of any 2 points are known in direction & are unequal.

In this case ICR is obtained by drawing

perpendicular to VA through A &
perpendicular to VB through B, the intersection
point is ICR.

VA = IA * ω
VB = IA * ω

2. When velocity of two points on rigid body are like parallel & unequal.

To locate ICR produce line AB. (which is

common perpendicular to direction of
velocity). & join the extremities of velocities
VA & VB, the intersection point is ICR. (ICR
lies outside AB).

VA = IA * ω
VB = IA * ω

3. When velocities of two points on rigid body are unlike parallel.

To locate ICR produce line AB. (which is

common perpendicular to direction of
velocity). & join the extremities of velocities
VA & VB, the intersection point is ICR. (ICR
lies between AB).
VA = IA * ω
VB = IA * ω

4. If the linear velocity of any point on the body is known to be zero then that point itself is an
ICR.

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1) The rod ABC is guided by wheels at A & B 4) Figure shows a collar B which moves
which rolls in horizontal & vertical track as upwards with a constant velocity of 1.5 m/s. At
shown in fig. If the angular velocity of the rod the instant when θ = 500, determine (i) the
is 3 rad/sec in clockwise direction, angular velocity of rod AB which is pinned at
(i) locate instantaneous centre & B and freely resisting at A against 250 slopping
(ii) Determine velocity of point C. ground and (ii) the velocity of end A of the rod.
[Ans: - VC = 1.61 m/s] [Ans:- ωAB = 1.17 r/s, VA = 1 m/s ]

2) Rod AB of length 3m is kept on smooth 5) Fig shows a crank and connecting rod
planes as shown in fig. The velocity of the end mechanism. The crank AB rotates with an
A is 5 m/sec along the inclined plane. Locate angular velocity of 2 rad/sec in clockwise
the ICR and find the velocity of the end B and direction. Determine the angular velocity of
midpoint M of rod AB. (Dec-16) connecting rod BC and the velocity of piston C
[Ans: VB = 5.24 m/s, VM = 4.95 m/s] using ICR method. AB = 0.3 m & CD = 0.8 m,
[Ans: ωBC = 0.66 rad/s, Vc = 0.4 m/s]

3) Two wheels are attached to the ends of a rod 6) For the mechanism shown in figure,
AB rolls along the surfaces as shown in figure. determine the ICR. The crank OQ rotates
Derive expression for the angular velocity of clockwise at 310 RPM. Crank length = 10 cm,
the rod in terms of vB, θ, L and β. connecting rod length = 50 cm. Also find the
𝑽𝑩 𝑺𝒊𝒏𝜷
[Ans:- 𝝎𝑨𝑩 = ] velocity of P and angular velocity of connecting
𝑳𝒄𝒐𝒔𝜽
rod at that instant.
[Ans: VP = 30.967 cm/sec, ωPQ = 0.33 rad/sec
anticlockwise]

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07) The crank BC of a slider crank mechanism is 10) In the mechanism shown the angular velocity
rotating at constant speed of 30 rpm of link AB is 5 rad/sec anticlockwise. At the
clockwise. Determine the velocity of the instant shown, determine the angular
piston A at the given instant. velocity of link BC and the velocity of piston
[Ans: VA = 237.2 mm/s] C and midpoint M of the link BC. (May 14)
[Ans: ωBC = 6.67 rad/sec anticlockwise,
VC = 3001 mm/sec, VM = 1582 mm/sec ]

08) In figure rod AB has angular velocity of 2

rad/s counterclockwise. End C of rod BC is
free to move on a horizontal surface. 11) For the mechanism shown in figure find the
Determine (i) angular velocity of BC (ii) angular velocity of link OA. Take velocity of
velocity of C slider at B = 2500 mm/s.
[Ans: ω = 1 rad/s, Vc = 0.78 m/s] [Ans: ωOA = 6.25 rad/s clockwise]

09) At the position shown in fig, the crank AB

has angular velocity of 3 rad/s clockwise. 12) Locate the ICR for the link ABC and
Find the velocity of slider C and the point D determine velocity of points B & C. Angular
at the instant shown. velocity of rod OA is 15 rad/sec
[Ans: Vc = 400 mm/s, VD = 720 mm/s] counterclockwise. Length of OA = 200 mm,
AB = 400 mm & BC = 150 mm.
[Ans: VB = 16.24 m/sec, VC = 21.79 m/sec]

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13) Knowing that at the instant shown in figure 16) In the figure, collar C slides on a horizontal
the angular velocity of rod BE is a 4 rad/s rod. In the position shown rod AB is
counterclockwise, determine (i) the angular horizontal and has an angular velocity of 0.6
velocity of rod AD and (ii) the velocity of rad /s clockwise. Determine angular velocity
collar D. of BC and velocity of collar C.
[Ans: ωAD =4.27 rad/sec clockwise, VD =1.39 m/s] [Ans :ωBC = 0.35 rad/s clockwise, VC = 63 mm/s]

Rolling Motion-
17) A wheel of radius 0.75 m rolls without
14) C is a uniform cylinder to which a rod AB is slipping on a horizontal surface. Determine
pinned at A and the other end of the rod B is the velocities of point P and Q shown in
moving along a vertical wall as shown in fig. figure, when the velocity of centre of the
If the end B of the rod is moving upward wheel is 10 m/s towards right.
along the wall at a speed of 3.3 m/s, find the [Ans: ω = 13.33 rad/s, VP = 14.14 m/s]
angular velocity of the cylinder assuming
that the cylinder is rolling without slipping.
[Ans: ωcyl = 3.167 rad/sec clockwise]

18) Due to slipping points A and B on the rim of

the disk have the velocities as shown in
figure. Determine the velocities of centre
point C and D on the rim at the instant Take
radius of the disk 0.24 m.
15) In the figure, C is constrained to move in a [Ans: ω = 9.375 r/s, VC = 0.75 m/s,VD = 2.831 m/s]
vertical slot. A and B move on horizontal
floor. Rod CA and CB are connected with
smooth hinges. If VA = 0.45 m/s to the right.
Find velocity of C and B. also find the
angular velocity of the two rods.
[Ans: VC = 0.19 m/s, VB = 0.25 m/s,
ωAC = 1.5 rad/s anticlockwise,
ωBC = 1.25 rad/s clockwise] 19) A roller of diameter 0.8 m rolls without
slipping between two parallel plates as
shown in figure. Locate ICR and final
angular velocity of the wheel
[Ans: ω = 12.5 rad/sec, clockwise.]

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Chapter 8
Kinetics of Particles
1) D’Alembert Principle
(Dynamic equilibrium)
Newton’s Second Law-
When any unbalance force acts on a particle, it will have acceleration proportional to the magnitude
of the unbalance force & in the direction of unbalance force.

 F = ma
In rectangular co-ordinate form
 Fx = ma x
 Fy = ma y

D’Alembert Principle-

 F = ma
This equation can be written as  F − ma = 0

i.e.  F + (− ma) = 0

The vector ma is referred as inertia force having magnitude ma & -ve sign indicate that its direction
is opposite to the acceleration vector.
If the inertia force added in the system of forces then the state of equilibrium is created which is
called dynamic equilibrium or D’Alembert Principal
 F − ma = 0
Rectangular Components for dynamic equilibrium.
 Fx = 0 Including components of inertia force
 Fy = 0

• Procedure to solve problem on D’Alembert Principle.

➢ For rectilinear motion-

1. Draw the FBD of each particle separately showing all forces acting on it.
2. Decide or assume direction of acceleration. (Assume it in the direction of motion)
3. Apply D’Alembert force (inertia force) in the opposite direction of acceleration to create state
of dynamic equilibrium.
4. Apply D’Alembert principle (Conditions of dynamic equilibrium)  Fx = ma x &
 Fy = ma y (Including inertia force)

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• For connected bodies (When two or more particles are connected together)

1. Mark the tensions in the string connecting different bodies.

2. Give small displacement (known or assumed) to each body and apply principle of virtual
work for internal forces (∑U internal forces = 0) to obtain the kinematic relation of displacement,
velocity and acceleration) among the particles.
3. Draw FBD of each particle showing all forces acting on it including inertia force.
4. Use D’Alembert Principle (condition of dynamic equilibrium)

Note:

In case of connected bodies-

➢ When the friction is not involved then one can assume any direction of motion and
acceleration, if the magnitude of acceleration is –ve then the correct direction of
acceleration is opposite to what initially it was assumed.
➢ When friction is involved then first find the exact direction of motion. To decide the
direction of motion, let consider one of the connected particle is stationary and find the
unbalanced force (net force) acting on other particle from which the direction of motion
can be decided.

➢ D’Alembert Principle applied to Curvilinear Motion

 Ft = 0 Including components of inertia forces

 Fn = 0 mat & man

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Class work Problems
1) Find ‘P’ required to accelerate the block
shown in figure at 3 m/s2. Take µ = 0.2
(Dec - 16)
[Ans: P = 513.65 N]

Fig Q (5)

2) The 550 N box rest on a horizontal plane 6) A man weighing 600 N gets into an
for which the coefficient of kinetic friction elevator, calculate force exerted by him on
µK = 0.32. if the box is subjected to a 400 the floor, of the elevator (a) when it is
N towing force as shown. Find the velocity moving down with uniform velocity of 2
of the box in 4 seconds starting from the m/s. (b) ascending with an acceleration of
rest. (May - 15) (IMP) 3 m/s2. (c) Descending with an acceleration
[Ans: v = 16.724 m/s] of 4.9 m/s2.
[Ans: - (a) 600 N. (b) 783.67 N. (c) 300 N.]

7) On a 8 kg block resting on a 300 incline a

force F acts as shown in figure for 0 to 5
sec. F = 50 + 2t2 (N). determine the
acceleration, velocity and displacement at t
3) A block of mass 5 kg is released from rest = 5 sec. (Dec-12)
along a 40 degree inclined plane. [Ans: a = 6.75 m/s2, v = 12.89 m/s, s = 19.19 m]
Determine the velocity of the block when it
travels a distance of 3 m using D’Alembert
Principle. Take coefficient of friction as 0.2
(Dec - 14) (WEP)
[Ans: a = 4.803 m/s2, v = 5.37 m/s ]

4) A 50 kg block is kept on the top of a 150

slopping surface is pushed down the plane 8) The 100 kg crate is hoisted up by the incline
with an initial velocity of 20 m/s. If µS = using the cable & motor M. For a short time
0.5, µK = 0.4, determine the acceleration of the force in the cable is F = 800 t2 N where
the block. Also find the distance traveled ‘t’ is in second. If the crate has an initial
and the time it will take as it come to rest. velocity v1= 2 m/s when t = 0 sec.
(May - 19) Determine the velocity when t = 2 sec. The
[Ans: a = -1.25 m/s2, s = 160 m, t = 16 sec] coefficient of kinetic friction between the
crate & incline is k = 0.3
5) Two blocks A and B are separated by 10 m [Ans: - v = 8.91 m/s]
as shown in figure on a 200 inclined plane.
If the blocks are released from rest, find the
time t and distance travelled by each block
when they are at the verge of collision.
Assume µK = 0.3 for block A and plane and
µK = 0.1 for block B and plane. (May-19)
[Ans: t = 3.29 sec, SA = 3.198m, SB=13.198 m]

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D’Alembert Principle applied to connected 11) Blocks A and B of mass 600 kg and 1200
particles kg respectively are connected by a string
passing over a smooth pulley. Neglect mass
9) Two masses of 60N and 30N are positioned of pulley. If coefficient of kinetic friction
over frictionless and massless pulley. If the between the block A and the inclined
60 N mass is releases from rest, find the surface is 0.2, determine the acceleration of
speed at which the 60 N mass will hit the block A and block B. (May 18)
ground. (May - 15) [Ans: aA = 2.14 m/s2, aB = 1.07 m/s2]
[Ans: v = 3.62 m/s]

12) Two blocks A and B connected as shown in

figure. The string is inextensible. Mass of
A and B are 3 kg and 5 kg respectively. If
the coefficient of friction between A and
inclined plane is 0.25 determine the tension
10) Block A and B of mass 6 kg and 12 kg on the strings and acceleration of A and B
respectively are connected by a string (Dec-14)
passing over a smooth pulley. Neglect mass [Ans: aA = aB = 8.08 m/s2, T = 8.64 N]
of pulley. If the coefficient of kinetic
friction between the block A and the
inclined surface is 0.2, determine the
acceleration of block A and block B.
(Dec-15)
[Ans: T = 79.17 N, aA = aB = 3.21 m/s2]

13) Two masses are interconnected with the

pulley system. Neglecting friction between
pulley and cord, determine the acceleration
of mass m2. Take m1 = 50 kg and m2 = 40kg
(May - 18)
[Ans: a1 = 1.4 m/s2 (↑), a2 = 2.8 m/s2 (↓)]

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14) The system shown in figure is initially at 17) Determine the tension developed in the
rest. Neglecting friction determine the chords attached to each block and the
force ‘P’ required if the velocity of the accelerations of the blocks when the system
collar B is 5 m/s after 2 sec and shown is released from rest. Neglect the
corresponding tension in the cable. mass of the pulleys and the chords. (May10)
(May - 17) [Ans: aB = 4.78 m/s2, aA = 1.24 m/s2,
[Ans: P = 51.93 N] TB = 19.36 N TA = 77.44 N ]

15) Three blocks A, B and C of masses 3 kg, 2 18) Three m1, m2 and m3 of masses 1.5 kg, 2kg
kg and 7 kg respectively are connected as and 1kg respectively are placed on a rough
shown in figure. Determine the surface with coefficient of friction 0.2 as
acceleration of A, B and C. also find the shown. If a force F is applied to accelerate
tension in strings. (Dec - 16) the blocks at 3 m/s2. What will be the force
[Ans: aA = 0.5 m/s2 (↓), aB = 4.15 m/s2 (↑), aC = that, 1.5 kg block exerts on 2 kg block?
1.83 m/s2 (↓), T = 27.94 N.] (May 18)
[Ans: F = 22.33 N, R1 = 14.88 N]

D’Alembert Principle applied to curvilinear

motion

19) Sphere A is supported by two wires AB and

AC. Find out tension in wire AC:
16) A system of two masses as shown in fig is (i) Before AB is cut
released from rest. Mass A is of 5 kg & (ii) Just after AB is cut. (May 13)
mass B is of 15 kg. Find the tension in each [Ans: (i) TAC = 37.11 N, (ii) TAC = 17.1 N]
cord & acceleration of each mass. Also find
the velocity of A & B when B moves by
2 m.
[Ans: - TA= 67.846 N, TB= 33.923 N, aA = 3.77
m/s2, aB = 7.54 m/s2, vA = 2.75 m/s, vB = 5.49
m/s]

20) A small block rests on a turn table, 0.5 m

away from its centre. The turn table,
starting from rest, is rotated in such a way
that the block undergoes a constant
tangential acceleration. Determine the
angular velocity of the turn table at the
instant when the block starts slipping.
[Ans: ω = rad/sec]

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Kinetics of particles
II Impulse momentum principle

Note: Use impulse momentum principle when forces, velocity & time is involved.

Important Definitions-

a) Linear Momentum: - It is defined as the total quantity of motion possessed by a particle.

Linear momentum = mass x velocity = m x v
Unit – kg-m/s2

b) Impulsive Force: - Large force acting on a particle during a short interval of time is known as
impulsive force.
c) Impulse: - If a constant force F acts for time ‘t’ then the impulse of the force is obtained as product
of force & time.

Impulse = F x t = F (t2 – t1)

If force varies with time ‘t’ i. e. F = f(t) then

𝑡
Impulse = ∫𝑡 2 𝑓(𝑡)𝑑𝑡
1

Unit of impulse – N-s

Graphically

Graphically the impulse of a force is the area under force v/s time diagram.

Impulse = Area under F-t curve Impulse = Area under F-t curve
I=Fxt t2
I = ∫ F . dt
t1

Impulse-Momentum Principle

Newton’s IInd law of motion

𝐹 = 𝑚. 𝑎
𝑑𝑣
𝐹 = 𝑚.
𝑑𝑡

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𝐹. 𝑑𝑡 = 𝑚. 𝑑𝑣

Integrating both sides

𝑡2 𝑣2
∫ 𝑓. 𝑑𝑡 = ∫ 𝑚. 𝑑𝑣
𝑡1 𝑣1

Impulse = m. (v2-v1)

Impulse = mv2 – mv1

Impulse = Final momentum – Initial momentum

Impulse = Change in momentum

Impulse momentum principle states, “When the unbalanced forces are acting on a particle for a short
interval of time, the impulse produced by all impulsive forces is equal to the change in momentum
of particle.

I1→2 = M2 – M1

As impulse & momentum both are vector quantities the above principle can be expressed in the form
of component equation.

Impulse in X direction –
𝑡2
∫ 𝐹𝑥 . 𝑑𝑡 = 𝑚(𝑣𝑥 )2 − 𝑚(𝑣𝑥 )1
𝑡1
∑𝐹𝑥 . (𝛥𝑡) = 𝑚(𝑣𝑥 )2 − 𝑚(𝑣𝑥 )1

Impulse in Y direction –
𝑡2
∫ 𝐹𝑦 . 𝑑𝑡 = 𝑚(𝑣𝑦 )2 − 𝑚(𝑣𝑦 )1
𝑡1
∑𝐹𝑦 (𝛥𝑡) = 𝑚(𝑣𝑦 )2 − 𝑚(𝑣𝑦 )1

Sign convention-
Forces acting in the direction of motion can be
consider as + ve

Non Impulsive forces

Any force which does not produce any impulse is called non impulsive forces.
e.g. i) force exerted by spring
ii) forces of action & reaction
iii) The internal forces
Law of Conservation of momentum.

I-M principle
Impulse = final momentum – initial momentum

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But if sum of impulsive forces is equal to zero the above relation reduces to
Initial momentum = Final momentum
i.e. Total momentum of particle is conserved.

Procedure to solve problem on impulse – momentum principle.

1) Draw FBD showing all impulsive forces acting during time interval t1 to t2.
2) Calculate impulse of each force.
3) Calculate initial & final momentum.
4) Use I.M principle in the direction of impulsive forces.

Impact & Collision

Impact: - It is collision between two bodies which occur for a short interval of time & during which
both bodies exert a large amount of force on each other.

Important terms

1) Line of Impact:
The common normal to the colliding surfaces
of the two bodies at the time of impact is
known as line of impact.

In case of two colliding spherical (circular) bodies, line of impact is the line joining the centers of the
two spheres i. e. common normal.

2) Central Impact:
If the centers of gravity of two colliding bodies
are along the line of impact then the impact is
known as central impact. (Ref above fig.)
Otherwise it is known as non-central impact or
eccentric impact.

3) Direct impact:
If the velocities of two colliding bodies are along
the line of impact, then the impact is known as
direct impact.

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4) Oblique Impact:
If the velocity of any colliding body is not along
the line of impact, then the impact as known as
oblique impact.

5) Period of Deformation OR Time of Deformation:

The process of deformation continues for a short interval of time which is known as time of
deformation or period of deformation. This is the time from first contact to maximum deformation.

6) Restoration OR Restitution

Two bodies deform first when they collide. After the period of deformation they regain their original
shapes fully, partially or do not regain, this process of regaining the shape is called restitution.
The process continues for short interval of time known as time of restitution.

7) Coefficient of Restitution:
𝑉𝑒𝑙𝑜𝑐𝑖𝑡𝑦 𝑜𝑓 𝑠𝑒𝑝𝑒𝑟𝑎𝑡𝑖𝑜𝑛
It can be defined as the ratio of velocity of 𝑒=
𝑉𝑒𝑙𝑜𝑐𝑖𝑡𝑦 𝑜𝑓 𝑎𝑝𝑝𝑟𝑜𝑎𝑐ℎ
separation to the velocity of approach.
𝑉𝐵 − 𝑉𝐴
It denotes the loss of energy during impact. 𝑒=
𝑢𝐴 − uB

Law of conservation of momentum

In case of collision of two bodies impulse are

equal & opposite hence momentum is
conserved.

Total momentum before impact is equal to total

momentum after impact

mAuA + mBuB = mAvA + mBvB → +ve

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Types of impact

i)Perfectly Elastic Impact:

In this type of impact there is complete restoration. Both bodies regain their original shape & size
completely.
Properties:
i)Momentum is conserved
ii) K.E. is also conserved i.e. there is no loss of K.E. during impact. i.e. kinetic energy of particles
before impact is equal to kinetic energy of particles after impact.
iii) Coefficient of restitution e = 1
iv) Both bodies separated after impact and move with different velocities.

ii) Semi Elastic Impact:

In this type of impact there is partial restoration. Both bodies do not regain their original shape & size
completely.
Properties:
i)Momentum is conserved.
ii) K.E. is not conserved i.e. there is some loss in K.E. during Impact.
iii) 0 ≤ e ≤ 1
iv) Both bodies separate after impact.

iii) Plastic Impact:

In this type of impact, there is no restoration at all. Colliding bodies do not regain their shape & size.
i.e. there is no period of restitution.
Properties:
i)Momentum is conserved.
ii) K.E. is not conserved.
iii) e=0
iv) Both bodies coupled together & move with common velocity after impact (VA = VB = V)
v) LCM can be written as mA + mB = (mA + mB)V

iv) Impact with infinite mass

(Stationary Surface)
At the time of impact if the velocity of one of the
colliding bodies is zero before and after impact then
it can be consider as an Impact with infinite mass.
e.g. ball dropped on hard floor.
Properties:
i) Law of conservation of momentum is not applicable
(does not give any useful result)
ii) There is loss in K.E.
𝑉𝐵 −𝑉𝐴 𝑉𝐴
iii) 𝑒 = = − (By proper sign convention)
𝑢𝐴 −𝑢𝐵 𝑢𝐴
𝑣
i.e. 𝑒= (without sign convention)
𝑢

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Oblique Central Impact-

If the velocity of any colliding body is not along the line of impact, then the impact as known as
oblique impact.

Note: During oblique central impact tangential component of velocities i.e. (components
perpendicular to line of impact) remains same. & the components of velocity along line of impact
are changes; Hence apply law of conservation of momentum with the components of velocities in
the direction of line of impact.
• Tangential component (perpendicular to line of
impact) of velocities remain unchanged.

(uA)t = (VA)t (uB)t = (VB)t

Apply law of conservation of moment along line

of impact i. e. for normal component of
velocity.

mA(uA)n + mB(uB)n = mA(VA)n + mB(VB)n ------ (1)

By using proper sign convention for direction of

velocities (→ +ve)
Oblique Impact with Infinite mass
(Stationery surface) And Coefficient of restitution –

(𝑉𝐴 )𝑛 − (𝑉𝐵 )𝑛
𝑒= ----- (2)
(𝑢𝐴 )𝑛 − (𝑢𝐵 )𝑛

Solving equation (1) and (2),

get (VA)n and (VB)n

Then,
Resultant velocity of A after impact is given by-

𝑉𝐴 = √𝑉𝐴𝑡 2 + 𝑉𝐴𝑛2

And direction of VA,

Tangential component of velocity remains
unchanged vt = ut (𝑉 )
𝜃𝐴 = tan−1 ((𝑉 𝐴) 𝑡 ) with normal (LOI)
𝐴 𝑛

Component along common normal (LOI)

changes Similarly for particle B
𝑉𝑛 Resultant velocity of B after impact is given by-
𝑒=
𝑢𝑛
𝑉 = √𝑉𝑡 2 + 𝑉𝑛2 𝑉𝐵 = √𝑉𝐵𝑡 2 + 𝑉𝐵𝑛2

𝑉𝑛 And direction of VB,

𝜃 = tan−1 ( )
𝑉𝑡
(𝑉 )
𝜃𝐵 = tan−1 ((𝑉 𝐵) 𝑡 ) with normal (LOI)
𝐵 𝑛

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Class work Problems
Impulse momentum principle 4) A particle of mass 1 kg is acted upon by a
force ‘F’ which varies as shown in fig. If
1) The 550 N box rest on a horizontal plane initial velocity of particle is 10 m/s.
for which the coefficient of kinetic friction Determine: (i) what is maximum velocity
µK = 0.32. if the box is subjected to a 400 attained by the particle. (ii) Time when
N towing force as shown. Find the velocity particle will be at the point of reversal.
of the box in 4 seconds starting from the [Ans:- (i) Vmax = 110 m/s, (ii) t = 21 sec]
rest. (May - 15) (DAP)
[Ans: v = 16.724 m/s]

2) A 50 kg block is kept on the top of a 150 Impact and collision

slopping surface is pushed down the plane
with an initial velocity of 20 m/s. If µS = 5) Two small sphere A & B made up of
0.5, µK = 0.4, determine the acceleration of different materials have masses 3 kg & 1 kg
the block. Also find the distance traveled respectively. They are moving on
and the time it will take as it comes to rest. frictionless horizontal surface towards each
(May - 19) other with 4 m/s and 6 m/s respectively,
[Ans: a = -1.25 m/s2, s =160 m, t=16 sec] knowing that e = 0.8. Find (i) Velocity after
impact. (ii) Energy lost.
[Ans: - VA = 0.5 m/s ( ←), VB = 7.5 m/s (→)
3) A block of 50 kg resting on a horizontal (ii) Loss of K.E. = 13.5 J.]
surface is acted upon by a force P which
varies as shown. If the coefficient of
friction between the block & surface is 0.2. 6) Two balls with masses 20 kg and 30 kg are
Find velocity of block at t = 5sec & t = 10 moving towards each other with velocities
sec Also determine time when the block 10 m/s and 5 m/s respectively. If after
will come to rest. impact the ball having mass 30 kg reverse
[Ans: - v5 = 15.19 m/sec, v10 = 17.88 m/sec. its direction of motion and moves with
t = 19.11 sec.] velocity 6 m/sec, then determine the
coefficient of restitution between two balls.
(Dec 15, Dec 17)
[Ans: e = 0.833]

7) Prove that for a perfectly elastic body, two

equal masses participating in collision
exchange their velocities.

8) Three perfectly elastic balls A, B, & C

masses 2 kg, 4 kg & 8 kg move along a line
with velocities 4m/s, 1m/s & 0.75m/sec
respectively. If the ball A strikes ball B
which in turn strikes ball C, determine the
velocities of three balls after impact, check
the answer with energy consideration.
[Ans: - vA = 0, vB = 0, vC = 2.25 m/s]

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9) Block A is released from rest in position 1 Oblique central Impact
& slides without friction until it strikes the
ball B of the simple pendulum. Knowing 12) Two balls, A (mass 3 kg) and B (mass 4kg)
that the coefficient of restitution between A are moving with velocities 25 m/s and 40
& B as 0.9 determine (i) velocity of B m/s respectively as shown in figure. Find
immediately after impact. (ii) Maximum the magnitude and direction of velocities of
angular displacement of the pendulum. the balls after the impact. The coefficient of
mA = 1.125 kg. mB = 1.8 kg. restitution for the impact is 0.78.
[Ans: - vB = 2.507 m/sec, θ = 49.90] (Dec-18, May-19)
[Ans: VA = 29.32 m/s θA = 64.760,
VB = 32.36 m/s θB = 18.780]

10) A sphere of mass 2 kg is released from rest,

it strikes a block of mass 2 kg resting on a
surface as shown. Take e = 0.75, determine
how far the block will move after impact, if
μ = 0.25 between block & surface.
[Ans:- Δs = 3.675 m.]

13) Just before they collide, two disks on a

horizontal surface have velocities shown in
figure. Knowing that 90 N disk ‘A’
rebounds to the left with a velocity of 1.8
m/s. Determine the coefficient of
restitution for the impact and rebound
velocity of 135 N disk ‘B’ (May 17)
[Ans- e = 0.486, VB = 2.066 m/s θB = 56.430]
11) Bullet A of mass 0.01 kg moving with a
velocity of 100 m/sec hits a 1 kg bob of a
simple pendulum horizontally. Find the
maximum angle through which the
pendulum swings when (a) the bullet gets
embedded in the bob. (b) The bullet
rebounds from surface of the bob with a
velocity of 20 m/sec. (c) The bullet escapes
from the other end of bob with a velocity of
20 m/sec. Length of pendulum as 1 m.
[Ans: - (a) θ =180, (b) θ = 21.90, (c) θ = 14.50]

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14) Two balls of equal masses collide when Oblique impact with infinite mass-
they are moving with velocities 2 m/s and
6 m/s perpendicular to each other as sown 18) If the coefficient of restitution is 0.7
in figure. If coefficient of restitution is 0.8, determine magnitude and direction of
determine the velocity of ‘A’ and ‘B’ after velocity of ball after impact. (May 05)
impact. (May 18) [Ans: V = 34.52 m/s, θ = 34.98 0]
[Ans: VA = 5.76 m/s θA = 69.680,
VB = 0.6 m/s (↑)]

19) A ball is dropped from a height of 5 m on

an inclined surface of 300 inclination. Find the
velocity of the ball after impact.
Take e = 0.8 (May 06)
Direct impact with an infinite mass (Stationery [Ans: V = 8.46 m/s, θ = 54.180]
surface)

15) A ball is dropped on to a smooth horizontal

floor from a height of 4 m. On the second
bounce it attains a height of 2.25 m. Find
the coefficient of restitution between the
ball & the floor. (May-11)
[Ans: e = 0.866]

16) A boy throws a ball vertically downwards

from a height of 1.5m. he wants the ball to
rebound from the floor and just touch the
ceiling of room which is at a height of 4m
from ground. If coefficient of restitution e 20) A ball of mass ‘m’ kg hits an inclined
= 0.8, find the initial velocity with which surface with a velocity VA = 3 m/s. Find the
the ball should be thrown. (Dec-10) velocity of rebound. Take e = 0.8 (May 13)
[Ans: uo = 9.65 m/sec ] [Ans: V = 2.56 m/s, θ = 54.180]

17) A glass ball is dropped on to a smooth

horizontal floor from which it bounces to a
height of 9 m. On the second bounce it rises
to a height of 6 m. From what height the
ball was dropped & what is the coefficient
of restitution between the glass & the floor.
[Ans: - h = 13.5 m, e = 0.816 m]

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