ENGINEERING MECHANICS: STATICS AND DYNAMICS

Dr. A.K. Tayal

ENGINEERING
MECHANICS
STATICS
AND
DYNAMICS

A.K. Tayal
Ph. D.
Formerly Professor
Department of Mechanical Engineering
Delhi College of Engineering (Now Deemed University)
Delhi

Compiled by
Deeksha Tayal

UMESH PUBLICATIONS
Publishers of Engineering and Computer Books
4230/1, Ansari Road, Daryaganj, Delhi-110 002
Phones: (O) 32957898, 43028013
Engineering Mechanics : Statics and Dynamics
A.K. Tayal

Published by:
UMESH PUBLICATIONS
4230/1, Ansari Road, Daryaganj, Delhi-110 002
Phone : 32957898, 43028013

© Publishers

First Edition : 1989

Tenth Edition : 1999
Eleventh Edition : 2000
Thirteenth Edition : 2005
Fourteenth Edition : 2011 (Revised and Enlarged)

All rights reserved, No part of this publication may be reproduced, translated or

transmitted (except for review or criticism), without the written permission of the
publishers.

ISBN: 978-93-80117-38-6

Price : Rs 330.00

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 Preface to the Fourteenth Edition

It gives me a great pleasure to present the Fourteenth Edition of this book on Engineering
Mechanics. I express my gratitude for the wide acceptability of the book by the academics as
well as student community and it gives me deep sense of satisfaction. In this new edition, a new
chapter on ‘Shear Force and Bending Moment’ has been added. This topic is included to meet
the current requirements of some universities.
I again, request for the suggestions and comments for the improvement of the book.

Delhi Dr. A.K. TAYAL

January, 2011
 Preface to the First Edition

Mechanics is essentially a deductive science based on a few fundamental principles and has
vectorial character. This book has been written with a view to emphasize the vectorial character
of mechanics in such a manner so that the material presented may not require any previous
knowledge of mathematics beyond elementary calculus. For this reason, products and derivatives
of vectors are not used. A chapter on the ‘Review of Vectors and Forces in Space’, however, has
been included as an appendix to introduce the vector approach of the subject. This chapter can
be covered before going on the mechanics of coplanar system of forces.
It is a well recognised fact that the teaching of the first course in a subject should be based
on a text book. A systematic, consistent and clear presentation of concepts through explanatory
notes and figures and worked out problems are the main requirements of a text book. This book
has been written to meet such requirements. Merely stating the principles and explaining the
concepts is not enough; these are to be identified as applicable to the various problems which
may appear to be strangely different. With this objective, a large number of worked-out problems
have been included in this book. In the most worked-out problems, free-body diagrams have been
separately drawn with the coordinate axes shown. The equations of equilibrium or of motion,
as applicable, have been indicated. Inertia forces have also been clearly identified in a problem.
Alternative methods of solution to a number of problems have given or indicated to explain the
comparative merits of the concepts and solution procedures involved. In fact, skill through
repetition may be as much true here as in occult sciences.
I am grateful to many of my faculty colleagues and numerous students at Delhi College of
Engineering, Delhi (now Deemed University) who have contributed significantly by way of
constructive and useful discussions. The patience of the family members and the encouragement
by friends is gratefully acknowledged.
I am also tankful to the publishers who have taken keen interest throughout the preparation
of the book.
Despite may best efforts, it is possible that some unintentional errors may have escaped my
attention. I would gratefully acknowledge if any of these is pointed out. Also, any suggestions
and comments for further improvement of the book would be gratefully received and acknowledged.

Delhi A. K. TAYAL
 Contents

Preface to the Fourteenth Edition vi

Preface vii

1. INTRODUCTION 1–6
1.1 Engineering Mechanics 1
1.2 Idealization of Bodies 1
1.3 Basic Concepts 1
1.4 Fundamental Principles 2
1.5 Systems of Units 4

2. CONCURRENT FORCES IN A PLANE 7–58

2.1 Force 7
2.2 Scalar and Vector 7
2.3 Addition of Two forces: Parallelogram Law 8
2.4 Concept of the Resultant of Several Forces 11
2.5 Resultant of Several Concurrent Coplanar Forces: Polygon Law 12
2.6 Resolution of a Force into Components 13
2.7 Resultant of a Several Concurrent Coplanar Forces by
Summing Rectangular Components (Method of Projections) 15
2.8 Equations of Equilibrium for a System of Concurrent Forces in a Plane 18
2.9 Constraint, Action and Reaction 19
2.10 Types of Supports and Support Reactions 20
2.11 Free-Body Diagram 21
2.12 (a) Equilibrium of a Body Subjected to Two Forces (Two Force Body) 24
2.12 (b) Equilibrium of a Body Subjected to Three Forces 27
Problems 42
2.13 Moment of a Force 47
2.14 Theorem of Varignon 47
2.15 Equations of Equilibrium 49
Problems 56
x CONTENTS

3 . PARALLEL FORCES IN A PLANE 59–81

3.1 Parallel Forces 59
3.2 Resultant of Two Parallel Forces Acting in the Same Direction 60
3.3 Resultant of Two Unequal Parallel Forces Acting in Opposite Directions 61
3.4 Two Equal Parallel Forces Acting in Opposite Directions; Couple 61
3.5 The Resolution of a Force into a Force and a Couple 62
3.6 Equivalent System of Forces 62
3.7 General Case of Parallel Forces in a Plane 63
Problems 71
3.8 Distributed Forces in a Plane 73
3.9 Hydrostatic Pressure: Forces on Submerged Surfaces 75
Problems 80

4 . CENTROID, CENTRE OF MASS AND CENTRE

OF GRAVITY 82–107
4.1 Introduction 82
4.2 Centre of Gravity of a Body: Determination by the Method of Moments 82
4.3 Concept of Centroid 84
4.4 Centroid Two Dimensional Body 85
4.5 Determination of Centroid and Centre of Gravity: Integration Method 86
4.6 Centroid of a Composite Plane Figure 88
4.7 Theorems of Pappus and Guldinus 103
Problems 104

5 . GENERAL CASE OF FORCES IN A PLANE 108–121

5.1 General Case of Forces Acting in a Plane: Equations of Equilibrium 108
Problems 118

6. FRICTION 122–147
6.1 Introduction 122
6.2 Dry Friction 122
6.3 Laws of Dry Friction 123
6.4 Rolling Resistance 125
6.5 Force of Friction on a Wheel 125
Problems 142

7 . APPLICATION OF FRICTION 148—174

7.1 Belt and Rope Drives 148
7.2 Types of Belt Drives 149
CONTENTS xi

7.3 Belt Friction: Ratio of Tensions 154

7.4 Centrifugal Tension 156
7.5 Initial Tension in the Belt 158
7.6 Power Transmitted by Belts 158
7.7 Friction in a Square Threaded Screw 166
7.8 Disc and Bearing Friction 170
Problems 173

8 . SIMPLE LIFTING MACHINES 175–192

8.1 Introduction 175
8.2 Simple Machines and Definitions 175
8.3 Ideal Machine and Frictional Losses 176
8.4 Simple Machine : Performance 177
8.5 Reversibility of Machines and Self-locking Machines 178
8.6 Pulleys and System of Pulleys 181
8.7 Wheel and Axle 185
8.8 Differential Wheel and Axle 186
8.9 Differential Pulley Block 187
8.10 Worm and Worm Wheel 188
8.11 Simple Screw Jack 189
8.12 Single Purchase Winch Crab 190
Problems 192

9 . ANALYSIS OF PLANE TRUSSES AND FRAMES 193–234

9.1 Engineering Structures 193
9.2 Rigid or Perfect Truss 194
9.3 Truss : Determination of Axial Forces in the Members 195
9.3.1 The Method of Joints 195
9.3.2 The Method of Sections 200
Problems 216
9.4 Frames 220
9.4.1 Method of Analysis 220
9.4.2 Method of Analysis: Example 221
Problems 232

10. UNIFORM FLEXIBLE SUSPENSION CABLES 235–254

10.1 Cables and Loading 235
10.2 Cable Subjected to Concentrated Loads 235
xii CONTENTS

10.3 Cable Uniformly Loaded Per Unit Horizontal Distance (Parabolic Cable) 242
10.4 Cable Uniformly Loaded Per Unit Length Along the Cable Itself
(Catenary Cable) 250
Problems 254

11. GRAPHICAL ANALYSIS: COPLANAR FORCES

AND TRUSSES 255–274
11.1 Introduction 255
11.2 Graphical Conditions of Equilibrium 257
11.3 Reaction at the Supports: Determination 258
11.4 Special Problem 262
Problems 263
11.5 Graphical Method of Analysis of Simple trusses: Maxwell Diagram 265
11.6 Method of Substitution 270
Problems 273

12. MOMENT OF INERTIA 275–308

12.1 Introduction 275
12.2 Moment of Inertia of an Area of a Plane figure with Respect to an Axis in its Plane
(Rectangular Moments of Inertia) 275
12.3 Polar Moment of Inertia 276
12.4 Radius of Gyration of an Area 276
12.5 Parallel Axis Theorem (Displacement of the Axis Parallel to Itself) 277
12.6 Moment of Inertia of a Composite Area/Hollow Section 286
12.7 Product of Inertia 293
12.8 Displacement of Axes Parallel to Themselves 294
12.9 Rotation of Axis: Principal Axes and Principal Moments of Inertia 295
12.10 Moment of Inertia of a Mass (Rigid Body) 301
Problems 304

13. PRINCIPLE OF VIRTUAL WORK 309–328

13.1 Introduction 309
13.2 Principle of Virtual Work 310
13.3 Application on the Principle of Virtual Work 310
13.4 Potential Energy and Equilibrium 320
13.5 Stability of Equilibrium: Stable, Unstable and Neutral 320
Problems 326
CONTENTS xiii

14. RECTILINEAR MOTION OF A PARTICLE 329–378

Part A : Kinematics 329
14.1 Introduction to Dynamics 329
14.2 Rectilinear Motion: Displacement, Velocity and Acceleration 330
14.3 Graphical Representations 331
14.4 Motion with Uniform Acceleration 333
14.5 Motion with Variable Acceleration 334
Problems 349

Part B : Kinetics 352

14.6 Equations of Rectilinear Motion 352
14.7 Equations of Dynamic Equilibrium: D’Alembert’s Principle 352
Problems 374

15. CURVILINEAR MOTION OF A PARTICLE 379–427

Part A : Kinematics 379
15.1 Introduction 379
15.2 Position Vector, Velocity and Acceleration 379
15.3 Components of Motion: Rectangular Components 380
15.4 (a) Components of Acceleration: Normal and Tangential 382
15.4 (b) Components of Motion : Radial and Transverse Components 390
Problems 397
Part B : Kinetics 399
15.5 Introduction 399
15.6 Equations of Motion: In Rectangular Components 399
15.7 Equations of Motion: In Tangential and Normal Components 400
15.8 Equations of Dynamic Equilibrium (D’ Alembert’s Principle) 401
15.9 Working Concepts: Curvilinear Motion 402
15.10 Motion of Vehicles: Level and Banked Roads 415
Problems 423

16. KINETICS OF A PARTICLE : WORK AND ENERGY 428–456

16.1 Introduction 428
16.2 Work of a Force 428
16.3 Energy of a Particle 433
16.4 Principle of Work and Energy 433
16.5 Work and Energy Principle for a System of Particles 436
xiv CONTENTS

16.6 Potential Energy and Conservative Forces 437

16.7 Principle of Conservation of Energy 438
16.8 Power 439
Problems 453

17. KINETICS OF PARTICLE: IMPULSE AND

MOMENTUM 457–472
17.1 Introduction 457
17.2 Principle of Impulse and Momentum 458
17.3 Conservation of Momentum 459
Problems 466
17.4 Angular Momentum 467
17.5 Conservation of the Angular Momentum 469
Problems 471

18. IMPACT: COLLISION OF ELASTIC BODIES 473–498

18.1 Introduction 473
18.2 Direct Central Impact 474
18.3 Nature of Impact and The Coefficient of Restitution 475
18.4 Important Cases of Impact 477
18.5 Loss of Kinetic Energy During Impact 479
18.6 Oblique Central Impact 483
18.7 Problems Involving Energy and Momentum 487
Problems 497

19. RELATIVE MOTION 499–511

19.1 Introduction 499
19.2 Relative Motion between Two Particles: Velocity and Acceleration 499
19.3 Relative Velocity: Working Concepts 501
Problems 510

20. MOTION OF PROJECTILE 512–532

20.1 Introduction 512
20.2 Equation of The Path: Trajectory 513
20.3 Expressions for Time of Flight, Height, Range and Angle of Projection 514
20.4 Motion of a Projectile Thrown Horizontally 515
20.5 Motion of a Projectile up an Inclined Plane 516
Problems 531
CONTENTS xv

21. KINEMATICS OF RIGID BODY 533–558

21.1 Introduction 533
21.2 Rotation 534
21.3 Linear and Angular Velocity, Linear and Angular Acceleration in Rotation 535
21.4 General Plane Motion 537
21.5 Absolute and Relative Velocity in Plane Motion 538
21.6 Instantaneous Centre of Rotation in Plane Motion 546
21.7 Location of the Instantaneous Centre 546
Problems 556

22. KINETICS OF RIGID BODY: FORCE AND ACCELERATION 559–580

22.1 Introduction 559
22.2 Plane Motion of a Rigid Body : Equations of Motion 559
22.3 Relation between the Translatory Motion and Rotary Motion of a
Body in Plane Motion 561
22.4 D’Alembert’s Principle in Plane Motion 576
Problems 576

23. KINETICS OF RIGID BODY: WORK AND ENERGY 581–593

23.1 Kinetic energy of a Rigid Body 581
23.2 Work of the Forces Acting on a Rigid Body 582
23.3 Principle of Work and Energy for a Rigid Body 583
23.4 Principle of Conservation of Energy 584
Problems 593

24. MECHANICAL VIBRATIONS 594–618

24.1 Simple Harmonic Motion 594
24.2 Free Vibrations (Without Damping) 598
Problems 608
24.3 Pendulum Motion 609
Problems 617

25. SHEAR FORCE AND BENDING MOMENT 619–634

25.1 Introduction 619
25.2 Types of Beams and Loading 619
25.3 Concept of Shear Force and Bending Moment 621
25.4 Definition of Shear Force and Bending Moment and Sign Convention 622
xvi CONTENTS

25.5 Shear Force and Bending Moment Diagrams for

Standard Cases 624
Problems 633

APPENDIX 635–666
Appendix 1. Review of Vectors and Forces in Space 635
A-1 Definitions 635
A-2 Components of a Force 635
A-3 Defining a Force by its Magnitude and Two Points on its Line of Action 636
A-4 Components of a Vector 637
A-5 Vector Operations 641
A-6 Angular Velocity 645
A-7 Moment of a Force 646
A-8 Components of a Vector and Moment about an Axis 648
A-9 Resultant of a System of Forces in Space 651
A-10 Equilibrium of Spatial System of Forces 653
A-11 Types of Supports and Support Reactions
(in Three Dimensions) 654
Problems 659
Appendix 2. Useful Formulae 664

INDEX 667–671
 1
CHAPTER Introduction

1.1 ENGINEERING MECHANICS

It is the science which deals with the physical state of rest or motion of bodies under the action
of forces. Depending upon the nature of the body involved, it can be further divided into mechanics
of rigid bodies, mechanics of deformable bodies (also called strength of materials) and the
mechanics of fluids.
In this book, we shall deal with the mechanics of rigid bodies. Rigid bodies are those bodies
which do not deform under the action of applied forces. The mechanics of rigid bodies is studied
in two parts, statics and dynamics. Statics deals with bodies at rest and dynamics with bodies
in motion.

1.2 IDEALIZATION OF BODIES

Matter is made up of atoms and molecules. But the real picture of matter as atoms and molecules
is too complex to deal with. So to study the average measurable behaviour of bodies, we assume
that the matter is continuously distributed. Such a description of matter is called a continuum.
A continuum can be rigid or deformable depending upon the assumptions we make.
Rigid Body. The physical bodies deform, although slightly, under the action of loads or
external forces. But in many situations this deformation is negligibly small to affect the results.
So, the assumption of a rigid body shall mean that the body does not deform or the distance
between any two points of the body does not change under the action of a applied force.
Particle. It is defined as an object whose mass is concentrated at a point. This assumption
is made when the size of a body is negligible and is irrelevant to the description of the motion
of the body.

1.3 BASIC CONCEPTS

The study of mechanics involves the concepts of space, time, mass and force.
(i) Concept of space is essential to fix the position of a point. To fully define the position
of a point in space we shall need to define some frame of reference and coordinate system.
 Engineering Mechanics Statics and
Dynamics

Publisher : Umesh Publications ISBN : 9789380117386 Author : A K Tayal

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