STATICS OF RIGID BODIES (LECTURE 1)

Lecturer: Engr. MMRTating

VECTOR MECHANICS

PQ

y axis
VECTOR magnitude and direction V Pxi Pyj Pzk
SCALAR magnitude only
Qx Qy Qz
Fy F
x axis
VECTOR REPRESENTATION
MOMENT OF A FORCE ABOUT A
Fx
Fz
A -VECTOR DEFINED BY TWO
POINTS

y axis

z axis
B(x2,y2,Fz2) F

F
F Fx i Fy j Fz k

F Fcos x i Fcos y j Fsin z k

A(x1,y1,z1)
z axis

(Fx) 2 (Fy) 2 (Fz) 2

cos
x axis

i cos y j sin z k

cos 2 x cos 2 y cos 2 z 1

Fx
Fy
Fz
cos x
cos y
cos z

F
F
F
F F
(x - x1 ) i (y 2 - y1 ) j (z 2 - z1 ) k
F 2
FVECTOR MULTIPLICATION
(x 2 - x1 ) 2 (y 2 - y1 ) 2 (z 2 - z1 ) 2
A - VECTOR PRODUCT (CROSS
PRODUCT)
B - VECTOR DEFINED BY ONE
POINT AND THE ORIGIN

y axis
z
F y
x x axis
z axis

F F

xi y j zk
F
F
x 2 y2 z2
DIRECTION ANGLES AND
DIRECTION COSINES

POINT

y axis
F 2,y2,z2)
My B(x
A(x
r 1,y1,z1)
Mz O Mx x axis
z axis

Mo r F
i
j
k

Mo rx ry rz
Fx Fy Fz
Mo rFsin Fd

B - SCALAR PRODUCT (DOT

PRODUCT)

P Q PQcos

P Q Pxi Pyj Pzk Qxi Qyj Qzk

P Q PxQx PyQy PzQz

1. The line of action of V is

perpendicular to the plane
containing P and Q.
2. The magnitude of V is the
product of the magnitude of P
APPLICATIONS
and Q and the sine of the
angle formed by P and Q
Angle formed by two vectors
V PQsin
3. The direction of V is obtained
from the right-hand rule.

PQ
cos
PQ

STATICS OF RIGID BODIES (LECTURE 1)

Lecturer: Engr. MMRTating
2. Projection of a vector on a
given axis

M OL Mo ( r F)
M OL

POL Pcos

P Q PQcos POL Q

PQ
PxQx PyQy PzQz
POL

Q
Q

POL P
B MIXED TRIPLE PRODUCT

Sx Sy Sz
S (P Q) Px Py Pz
Qx Qy Qz
MOMENT OF A FORCE ABOUT A
AXIS

x y z
x
y z
Fx Fy Fz

SITUATION 1
Find the direction cosine of the
vector that is perpendicular to
the plane defined by A = 3i + j
k and B = 2i + 2j k. Express
your answer in Ai + Bj +Ck
form.
ANSWER: 0.236i + 0.236j +
0.943k

a. Determine the value of Sx

for which the three
vectors are coplanar.
SITUATION 6
The following vectors A, B and C
are mutually perpendicular to
each other
a. Determine the value of
the unknown

SITUATION 7
Given the force vector A = 8i +
4j -2k N and the position
vectors B = 2j + 6k m and
SITUATION 2
C = 3i -2j +4k m.
A force is of magnitude 80 kN.
The coordinate of the tail is at (0, Find the dot product of A and B
4, 3) and that of the tip is (4.5, 0, ( or A.B)
Find the orthogonal component
3). If one unit in the coordinate
of B in
system is equal to one meter,
the direction of C
what is the moment of the force
Find the angle between A and C
about the origin?
Find the cross product of A and B
ANSWER: 338.83 kN-m
( or A x B )
Find
the
unit vector that is
SITUATION 3
perpendicular to both A and B
The vector P and Q are two
Find the scalar triple product A x
adjacent sides of a
B.C
parallelogram.
a. Determine the area of the
SITUATION 8
parallelogram if P = -7i +
Refer to the figure shown
3j 3k and Q = 2i + 2j +
5k
SITUATION 4.
b. Determine the volume of
the paralleliped when P =
4i - 3j + 2k and Q = -2i - 5j
+ k and S = 7i + j k
SITUATION 5.
Given the vectors P = 4i - 2j +
3k and Q = 2i + 4j - 5k and S =
Sxi - j + 2k

4m
YF = D
100
2EmN
A C
m
22m
Z B
5m4m
X
a. The vector F is equal to
b. The moment at F about
point A is equal to

STATICS OF RIGID BODIES (LECTURE 1)

Lecturer: Engr. MMRTating
c. The moment at F about
point B is equal to
RESULTANT AND EQUILIBRIUM
Working Formula for
RESULTANT

Rx Fx : Ry Fy
R Rx 2 Ry 2

tan -1

Ry
Rx

Where :
Rx = x-component of
resultant R
Ry = y-component of
resultant R
= angle that R makes
with the
x-axis
Working Formula for
EQUILIBRIUM

Fx 0 : Fy
R.d Mo

SITUATION 2
Three cables are joined at the
junction ring C and support the
30 kg cylinder
a. Determine the tensions in
cable AC
and BC .
Calculate the reaction in the
pulley at D

SITUATION 4
The uniform rod in figure shown
weighs 420kN and has its center
of gravity at G.
Find the reaction at the smooth
surface A.
Find the reaction at the corner B.
Find the tension in the cable.

R.d Rx. Yi Ry.Xi

Where :
R = resultant force
D = perpendicular
distance from
reference point
Xi = x-intercept
Yi = y-intercept
SITUATION 1
What horizontal force P must
a worker exert on the rope to
position the 50 kg crate
directly over the trailer?

SITUATION 3
The man of weight 670 N
attempts to lift himself and the
seat of weight 200 N using the
rope and pulley system shown.
a. Determine the force at A
needed to do so
b. Find his reaction on the seat

SITUATION 5
A wheel of 10cm radius carries a
load of 1000 kN as shown.
1. Which of the following
gives the horizontal force
P applied at the center
which is necessary to start
the wheel over the 5cm
block. Also find the
reaction at the block.
2. If the force P maybe
inclined at any angle with

STATICS OF RIGID BODIES (LECTURE 1)

Lecturer: Engr. MMRTating
the horizontal, which of
the following gives the
minimum value of P to
start the wheel over the
block.
3. Which of the following
gives the angle that P
makes with the horizontal.

SITUATION 8
A sign of uniform density weighs
540 N and is supported by a
ball-and-socket joint at A and by
two cables.
SITUATION 6
Neglecting the weights of the
frame,
a. Find the tension in cable
CD.
b. Determine the pin
reaction at A and B
c. Calculate the hinge
reactions at E and F

1. Determine the tension at CE

2. Limiting friction is the

maximum value of static friction
that occurs when motion is
impending.
3. Kinetic friction is the tangential
force between two bodies after
motion begins. It is less than static
friction.
4. Angle of Friction ( ) is the
angle between the action line of
the total reaction of one body on
another and the normal to the
common tangent between the
bodies when the motion is
impending.
5. Coefficient of Static friction- is the
ration of the static friction ( or
limiting friction ) to the Normal
force ( N) . = Fs /N.
6. Coefficient of Kinetic friction is
the ratio of the kinetic friction to
the normal force.
7. Angle of Repose ( ) is the angle
to which an inclined plane may be
raised before an object resting on it
will move ( that is, the maximum
angle that the plane may be
inclined without causing the body
to slide down ). Under the action of
the force of
gravity and the reaction of the
plane, By Trigonometry .

DRY FRICTION refers to the

friction force that exist between
two
unlubricated solid suirfaces.

FRICTION
The resistance to sliding
between contacting surfaces
when the resistance is due to A- STATIC CASE
the nature of the surfaces and
not their shape or form.
F Fmax s N
SITUATION 7
Neglecting the weights of the
members
a. Determine the forces acting
on the cylinder at A and B

Where :

TERMS:
Fmax maximum static
friction
1. Static friction - Between two
s = coefficient of static friction
bodies is the tangential force which
N = normal reaction
opposes the sliding of one body
B- IMPENDING SLIDING
relative to the other.

STATICS OF RIGID BODIES (LECTURE 1)

Lecturer: Engr. MMRTating
F Fmax s N
C- DYNAMIC CASE

A 200 N block is set on a 30o

inclined plane with a coefficient
of friction of 0.30.

SITUATION 4 (CE BOARD MAY

2006)
P
F Fk k N
The uniform 50 kg plank is
resting on rough surfaces at A
Where :
and B whose coeff. of static
Fk kinetic/dynamic friction
friction are as shown. A 100 kg
k = coefficient of kinetic
horse starts running towards B.
friction
a. What is the reaction at B?
N = normal reaction
b. What is the reaction at A?
c. What is the value of x when the
D- FURTHER DISCUSSION
plank will start to slide?
1. The minimum value of P that will
hold the block in place if is
zero is nearest
2. The smallest possible value of P
that will produce impending
motion up the plane if can be
adjusted is nearest to:
3. The minimum value of P that will
produce impending motion up
CABLES UNDER CONCENTRATED
the plane if is zero is nearest
LOADS
to
SITUATION 1
The 18-kg uniform bar is position SITUATION 3
A. GENERAL DISCUSSION
The
position
of
the
machine
as shown and is loaded with a
block B is adjusted by moving
force P inclined 50o with the
the wedge A. If the coefficient of
horizontal.
static friction is 0.35 between
a. Determine the largest P so
all surfaces of contact,
that the bar will remain in
a. Determine the force P required
equilibrium position.
a. 121.20 N
b. to raise the block B.
b. Determine the force P required
115.3 N
to lower the block B.
c. 96.7
d. 72.1 N
CABLES UNDER DISTRIBUTED
LOADS

SITUATION 2

STATICS OF RIGID BODIES (LECTURE 1)

Lecturer: Engr. MMRTating

Tcos TO
Tsin W

tan

W
To

TO W 2
2

B. PARABOLIC CABLES

PROPERTIES OF AN AREA
CENTROIDS:

tan

w o .x
To

TO (w o x)

Ax a1 x1 a2 x2 .... an xn ax Qy
Ay a1 y1 a2 y2 .... an yn ay Qx
2

wo x2
2To

SITUATION 1
For the cable loaded as shown
a. Determine the angles 1 and
2 , the force in each segment
and the length of the cable.

MOMENT OF INERTIA

Ix

y dA
2

Iy

x dA
2

SITUATION 2.
Determine the x coordinate of
the centroid of the line.

TRANSFER FORMULA

I x I x o Ad 2

I y I y Ad 2
o

PRODUCT OF INERTIA

Ixy

xydA

TRANSFER FORMULA

SITUATION 3
Locate the centroid of the curve
shown

Pxy Po Axy
SITUATION 2
SITUATION 1
Given the parabolic cable shown, Determine the location of the
a. How far to the right of A is
centroid of the area shown.
the lowest point?
b. What is the tension at the
lowest point?
c. What is the tension at A?
d. What is the tension at B?
e. What is the slope of cable
20 meters to the left of B?

SITUATION 3

STATICS OF RIGID BODIES (LECTURE 1)

Lecturer: Engr. MMRTating
The figure shown is a right
triangle with the dimensions as
indicated.

a. What are the values of the

moments of inertia about the x
and y axes?
b. What is the value of the
product of inertia Pxy with
respect to x and y
axes?
c. What are the maximum and
minimum moments of inertia of
the section?
SITUATION 4
Determine the product of inertia
of the shaded area about the x
and y axes.

SITUATION 6
Determine the product of inertia
of the quarter circular area with
respect to the x and y axes.

SITUATION 9
Given the figure shown, compute
the following

SITUATION 7
Determine the surface area of
the chain link shown, which is
made from a 6-mm diameter
bar, if R = 10 mm and L = 30
mm.

SITUATION 5
SITUATION 8
Determine the product of inertia Determine the volume of the
of the area shown below with
concrete arch dam
respect to the centroidal x and y
axes.

a. Centroidal moments of
inertia
b. Centroidal product of
inertia
c. Maximum and minimum
moments of inertia
d. Maximum product of
inertia
e. Minimum radius of
gyration

STATICS OF RIGID BODIES (LECTURE 1)

Lecturer: Engr. MMRTating