Engineering Mechanics

By: Dr. Divya Agarwal

1
 UNIT- I
 Force system: Introduction, force, principle of transmissibility of force, resultant of a force system, resolution of a force,
moment of force about a line, Varigon’s theorem, couple, resolution of a force into force and a couple, properties of couple and
their application to engineering problems.
 Equilibrium: Force body diagram, equations of equilibrium, and their applications to engineering problems, equilibrium of two
force and three force members.
 Distributed forces: Determination of centre of gravity, centre of mass and centroid by direct integration and by the method of
composite bodies., mass moment of inertia and area moment of inertia by direct integration and composite bodies method,
radius of gyration, parallel axis theorem, polar moment of inertia.

 UNIT- II
 Structure: Plane truss, perfect and imperfect truss, assumption in the truss analysis, analysis of perfect plane trusses by the
method of joints, method of section, graphical method.
 Friction: Static and Kinetic friction, laws of dry friction, co-efficient of friction, angle of friction, angle of repose, cone of friction,
frictional lock, friction in pivot and collar bearing, friction in flat belts. 2
 UNIT-III
 Kinematics of Particles: Rectilinear motion, plane curvilinear motion, rectangular coordinates, normal and tangential
coordinates
 Kinetics of Particles: Equation of motion, rectilinear motion and curvilinear motion, work energy equation, conservation of
energy, concept of impulse and momentum, conservation of momentum, impact of bodies, co-efficient of restitution, loss of
energy during impact.

 UNIT-IV
 Kinematics of Rigid Bodies: Concept of rigid body, type of rigid body motion, absolute motion, introduction to relative
velocity, relative acceleration (Corioli’s component excluded) and instantaneous center of zero velocity, velocity and
acceleration.
 Kinetics of Rigid Bodies: Equation of motion, translatory motion and fixed axis rotation, application of work energy principles
to rigid bodies conservation of energy.
 Beam: Introduction, types of loading, methods for the reactions of a beam, space diagram, types of end supports, beams
subjected to couple 3
 UNIT- I
 Force system: Introduction, force, principle of transmissibility of force, resultant of a force system, resolution of a force, moment of
force about a line,Varigon’s theorem, couple, resolution of a force into force and a couple, properties of couple and their application to
engineering problems.
 Equilibrium: Free body diagram, equations of equilibrium, and their applications to engineering problems, equilibrium of two force and
three force members.
 Distributed forces: Determination of centre of gravity, centre of mass and centroid by direct integration and by the method of
composite bodies., mass moment of inertia and area moment of inertia by direct integration and composite bodies method, radius of
gyration, parallel axis theorem, polar moment of inertia.

 UNIT- II
 Structure: Plane truss, perfect and imperfect truss, assumption in the truss analysis, analysis of perfect plane
trusses by the method of joints, method of section, graphical method.
 Friction: Static and Kinetic friction, laws of dry friction, co-efficient of friction, angle of friction, angle of repose, cone of friction,
frictional lock, friction in pivot and collar bearing, friction in flat belts. 4
 ANALYSIS OF PLANE TRUSSES AND FRAMES-
ENGINEERING STRUCTURES
 An engineering structure is any connected system of members built to support or transfer forces and to safely
withstand the loads applied to it.
 The term ‘structure’ refers to anything that is constructed or built
from interrelated parts with a fixed location on the ground.
 To determine the internal forces in the structure, dismember the
structure and analyze separate FBDs of individual members.
 The engineering structures may be broadly divided into:-
1. Trusses.
2. Frame.
3. Machine: Are structures designed to transmit and modify forces
and contain some moving members.
 The plane structures are structures whose members lie in one
5
plane.
WHAT IS TRUSS?

 A truss is a structure
that consists of
members organized
into connected
triangles so that the
overall assembly
behaves as a single
object.
 Truss are used in
bridges, roofs and
towers.
6
 WHAT IS TRUSS?

 It is a system of uniform bars for all members (of the circular section, angle section, channel section etc.) joined
together at their ends by riveting or welding and constructed to support loads.
 In other words, A truss is a frictionless pin-connected structure, where an assemblage of slender bars is
fastened together at their ends by smooth bolts or ball-and-socket joints acting as hinges.
 The members of a truss are straight members and the loads are applied only at the joints.
 The bar members, therefore, act as two-force members which can either be in tension or in compression; there
can be no transverse force in a member of a truss.
 Forces acting at the member ends reduce to a single force and no couple.
 Most structures are made of several trusses joined together to form a space framework.
 Each truss carries those loads which act in its plane and may be treated as a two-dimensional structure.
 A truss consisting of members which lie in a plane and are loaded in the same plane is called plane truss.
 If a truss is made of non-coplanar members, it is referred to as space truss. 7
LOAD BALANCING IN TRUSS

 Truss are used to achieve

long span
 Minimize the weight of
structure
 Reduced deflection
 Support heavy loads

8
 WHAT IS TRUSS?

 Members of a truss are slender and not capable of supporting large lateral loads.
 Loads must be applied at the joints. Weights are assumed to be distributed to joints.
 External distributed loads transferred to joints via stringers and floor beams.

9
 WHAT ARE FRAMES?

 A frame structure, on the other hand, consists of members

which may be subjected to a transverse load in addition to
the axial load.
 In other words, a structure consists of several bars or
members pinned together and in which one or more then
one of its members is subjected to more than two forces.
 They are designed to support loads and are stationary
structures.
 A simple structure is thus a pin-connected frame or truss.
 Similarly, a frame may be a plane frame or a space frame
depending upon its structure.
10
 RIGID OR PERFECT TRUSS

 Trusses are classified as just rigid, over rigid and non-

rigid mechanisms.
 If the members are allowed any relative movement,
then the assemblage of members is called a non-rigid
truss or mechanism
 If the members are not allowed any relative movement,
then it is called a rigid truss.
 A just-rigid truss is that which, on the removal of any
single member, becomes non-rigid.
 An over-rigid truss is the one that has redundant
members which may be removed to render the truss
just-rigid.
 Examples of such trusses are shown here. 11
 RIGID OR PERFECT TRUSS

 The term rigid, with reference to the Truss, is used in the sense that the truss is non collapsible when the
external supports are removed.

12
 MATHEMATICAL CONDITION FOR RIGID OR PERFECT
TRUSS.
 A truss consists of a number of members which are connected together and form a certain number of joints.
For a truss to be rigid or perfect, the relationship between its number of members and the number of joints is,
m + 3 =2j
 where, m=number of members in the Truss and
j = number of joints in the Truss
 If m+3>2j, it means that the truss contains more members than required to be just rigid and is over rigid
and statically indeterminate
 If m+3<2j, it means that the truss contains less members than required to be just rigid and is collapsible or
under rigid.
 Statically determinate. A truss is statically determined if the equations of static equilibrium alone are
sufficient to determine the axial forces in the members without the need of considering their deformations.
13
CONDITIONS OF RIGIDITY OF TRUSS

14
 MATHEMATICAL CONDITION FOR RIGID OR PERFECT
TRUSS.
 Simple or just-rigid trusses are generated from the basic triangular truss by successively adding a pair of new
members to the existing joints and by generating a new joint by connecting the new members.
 For a basic triangular truss which is just-rigid, the number of joints j = 3. For each additional joint, two members
must be added to keep it just-rigid.
 If we wish to visualise a truss of j joints, then ( j – 3) joints must be added to the basic triangular truss. The
number of members which will be added are 2( j – 3) and the total number of members become
m = 2( j – 3) + 3
 Where, m=2j–3
 Note: Number of members in a simple just-rigid truss must be odd.
 A space truss (or frame) consists of members which do not lie in a single plane. If the non-coplanar members
are pin jointed, it is called a simple space truss.
 A necessary relationship between the number of joints j and the number of members m for a just rigid simple
15
space truss is m=3j–6
SOME STANDARD TYPES OF TRUSS

Types of truss Joints j Members m Condition m=2j-3

(a) Warren Truss
(b) Pratt Truss

16
SOME STANDARD TYPES OF TRUSS

Types of truss Joints j Members m Condition m=2j-3

(a) Warren Truss 7 11 Satisfied
(b) Pratt Truss

17
SOME STANDARD TYPES OF TRUSS

Types of truss Joints j Members m Condition m=2j-3

(a) Warren Truss 7 11 Satisfied
(b) Pratt Truss 12 21 Satisfied

18
SOME STANDARD TYPES OF TRUSS

Types of truss Joints j Members m Condition m=2j-3

(c) Howe Truss
(d) K-Truss

19
SOME STANDARD TYPES OF TRUSS

Types of truss Joints j Members m Condition m=2j-3

(c) Howe Truss 12 21 Satisfied
(d) K-Truss

20
SOME STANDARD TYPES OF TRUSS

Types of truss Joints j Members m Condition m=2j-3

(c) Howe Truss 12 21 Satisfied
(d) K-Truss 16 29 Satisfied

21
 BASIC ASSUMPTIONS FOR THE PERFECT TRUSS ARE

 The joints of a simple Truss are assumed to be pin connections and frictionless therefore, they cannot
resist moments.
 The loads and support reactions on the Truss are applied at the joints only.
 All members are two-force members.
 Weight of the members is small compared with the force it supports (weight may be considered at
joints), the member weight is often neglected. However, when the member weight is considered, it is
applied at the end of each member.
 No effect of bending on members even if weight is considered
 The members of a Truss are straight to force members with the forces acting collinear with the
centre line of the members. Or the centroidal axis of each member coincides with the line
connecting the centres of the adjacent members and the members only carry axial force.
22
 The Truss is statically determinate.
 TRUSS: DETERMINATION OF AXIAL FORCES IN THE
MEMBERS

 The various methods are:

1. The method of joints
2. The method of Sections
3. Graphical Method

23
 THE METHOD OF JOINTS

 The method of joints consists of taking up one joint at a time and analysing it for equilibrium.
 At every joint in a truss the forces must be along the members at that joint.
 The forces acting at every joint must satisfy the necessary condition of equilibrium
 The procedure is as follows:
1. Consider the FBD of the entire Truss
2. Compute the support reactions using the equations of equilibrium.
3. Assume and mark directions of usual forces in the members on the diagram as shown in figure a.
4. If in the solution the magnitude of a force comes out to be negative the assumed direction of the
force in the member is simply reversed.

24
FIGURE A

25
 THE METHOD OF JOINTS

 Choose joint (A and D) as shown in figure

and consider its FBD (shown in figure b).
 The forces acting on the joint represent a
system of concurrent forces in equilibrium.
 Therefore only two equations of
equilibrium can be withdrawn for each
joint and can be solved to determine only
two unknown forces.
 Therefore, start from a joint where not
more than two unknown forces appear.
 For example, we should start from joint A
and not from joint D. Consider the
equilibrium of the remaining joints.
26
 THE METHOD OF JOINTS

 Dismember the truss and create a FBD for each member and pin.
 The two forces exerted on each member are equal, have the same line
of action, and opposite sense.
 Forces exerted by a member on the pins or joints at its ends are
directed along the member and equal and opposite.
 Conditions of equilibrium on the pins provide 2j equations for 2j
unknowns.
 For a simple truss, 2j = m + 3. May solve for m member forces and 3
reaction forces at the supports.
 Conditions for equilibrium for the entire truss provide 3 additional
equations which are not independent of the pin equations.
 Use conditions for equilibrium for the entire truss to solve for the
27
reactions RA and RB.
THE METHOD OF JOINTS

28
THE METHOD OF JOINTS

Note the direction of the forces in

the members acting on the joints

29
THE METHOD OF JOINTS

Note the direction of the forces in

the members acting on the joints

30
 THE METHOD OF JOINTS: SPECIAL CONDITIONS

 When two members meeting at a joint are not collinear and there is no external force
acting at the joint, then the forces in both the members are zero.

31
 THE METHOD OF JOINTS: SPECIAL CONDITIONS

 When there are 3 members meeting at a joint, of which two are collinear and third be at an angle and if there
is no load at the joint the force in the third member is zero.

32
 Consider the joint F, force in the member FD is zero. Consider the joint G, force in the member GE is zero.
 EXAMPLE1.

 The truss ABC shown in Fig. 13.5 has a span of 5 metres. It is carrying a load of 10 kN at its
apex.
 Find the forces in the members AB, AC and BC.

33
EXAMPLE1.

34
EXAMPLE1.

RC × 5 = 10 × 1.25 = 12.5
∴
RC = 2.5kN
and RB = 10 – 2.5 = 7.5 kN

35
 EXAMPLE1.

 Using the method of joints, find the axial forces in all the members of a Truss with the loading
shown in figure 1.

36
 SOLUTION
 To determine support reactions consider equilibrium of entire Truss.
 Reaction at a hinge can have two components acting in horizontal
and vertical directions. As there is no horizontal external force acting
on the Truss so the horizontal component of reaction at A is zero.
 Taking moments about A,

𝑀𝐴 = 0: − 2000 ∗ (1.5) – 4000 (4.5) + 𝑅𝐶 ∗ 6 = 0

RC = 3500N

𝐹𝑦 = 0: 𝑅𝐴 + 𝑅𝐶 − 2000 – 4000 = 0

RA = 2500N
 Before considering the equilibrium of the joints, mark by inspection
the directions of axial forces in all the members as shown in figure. 37
 SOLUTION

 Joint A. Let us begin with the joint A at which there are only two unknown forces. We cannot begin with
the joint D because there are three unknown forces acting at the joint D.
 Consider the FBD of the joint A. Equations of equilibrium can be written as:
 𝐹𝑥 = 0: 𝐹𝐴𝐵 − 𝐹𝐴𝐷 cos 60° = 0
 𝐹𝑦 = 0: 𝑅𝐴 − 𝐹𝐴𝐷 sin 60° = 0
𝑅𝐴 2500
 𝐹𝐴𝐷 = =
sin 60° 0.866

 𝐹𝐴𝐷 = 2887 𝑁 𝐶
 𝐹𝐴𝐵 = 𝐹𝐴𝐷 cos 60° = 2887 ∗ 0.5 = 1443 𝑁(𝑇)
 The magnitude of the forces FAB and FAD are both coming out to be positive, therefore, the assumed
directions of the forces are correct.
38
 SOLUTION

 Joint C.
 𝐹𝑥 = 0: 𝐹𝐶𝐸 cos 60° − 𝐹𝐶𝐵 = 0
 𝐹𝑦 = 0: 𝑅𝐶 − 𝐹𝐶𝐸 sin 60° = 0
𝑅𝐶 3500
 𝐹𝐶𝐸 = = = 4041 N C
sin 60° 0.866

 𝐹𝐶𝐵 = 𝐹𝐶𝐸 cos 60°

= 4041 N ∗ 0.5 = 2020.5 N (T)

39
 SOLUTION

 Joint D. 𝐹𝐴𝐷 = 2887 𝑁 𝑘𝑛𝑜𝑤𝑛

 𝐹𝑥 = 0: 𝐹𝐷𝐵 cos 60° + 𝐹𝐴𝐷 cos 60° − 𝐹𝐷𝐸 = 0
 𝐹𝑦 = 0: 𝐹𝐴𝐷 sin 60° − 𝐹𝐷𝐵 sin 60° − 2000 = 0
2887∗0.866−2000
 𝐹𝐷𝐵 = = 577N T
0.866

 𝐹𝐷𝐸 = 𝐹𝐷𝐵 cos 60° + 𝐹𝐴𝐷 cos 60°

 𝐹𝐷𝐸 = 577 ∗ 0.5 + 2887 ∗ 0.5
 𝐹𝐷𝐸 = 1732 N (C)

40
 SOLUTION

 Joint E. 𝐹𝐷𝐸 = 1732 N (C)

𝐹𝐶𝐸 = 4041 N (known)
 𝐹𝑥 = 0: 𝐹𝐸𝐵 cos 60° − 𝐹𝐶𝐸 cos 60° + 𝐹𝐷𝐸 = 0
Or
4041∗0.5−1732
 𝐹𝐸𝐵 = = 577N C
0.5

 There is no need to consider the equilibrium of the joint B as

all the forces have been determined.

41
 QUESTION

 Determine the forces in the members in the following truss

42
SOLUTION

43
 SOLUTION

 Consider the FBD of the truss as shown to get the unknown

reactions at A and B as shown.
 Consider the equilibrium at each hinge to find the force in the
members.
 Assume tensile forces act on all the members.
 𝐹𝑥 = 0: 𝐴𝑥 + 10 cos 45° = 0 𝐴𝑥 = −7.07𝑘𝑁
 𝑀𝐴 = 0: 𝐵𝑦 ∗ 3 − 10 cos 45° ∗ 1 − 10sin45° ∗ 1.5 = 0
By = 5.89𝑘𝑁
 𝐹𝑦 = 0: 𝐴𝑦 + 𝐵𝑦 = 10 sin 45°
𝐴𝑦 = 1.18𝑘𝑁
44
 SOLUTION

 As we are solving the problem using the method of joints, we take equilibrium
at each point.
 As we have assumed the forces in all the members are tensile, the direction
of the reaction force they exert on the hinges are as shown.
1 2 3
 tan 𝜃 =  𝑠𝑖𝑛𝜃 = 𝑐𝑜𝑠𝜃 =
1.5 13 13

Equilibrium at B 
 𝐹𝑦 = 0: 𝐹𝐵𝐶 𝑠𝑖𝑛𝜃 + 𝐵𝑦 = 0𝐹𝐵𝐶 = −10.62𝑘𝑁
 𝐹𝑥 = 0: 𝐹𝐴𝐵 + 𝐹𝐵𝐶 cos 𝜃° = 0 𝐹𝐴𝐵 = 8.84𝑘𝑁
Equilibrium at A 
 𝐹𝑦 = 0: 𝐹𝐴𝐶 𝑠𝑖𝑛𝜃 + 𝐴𝑦 = 0𝐹𝐴𝐶 = −2.13𝑘𝑁
45
 SOLUTION

 We assumed that all the forces in the members were tensile.

 But we got some of them negative.
 So, the negative sign indicates that the forces in the members are
compressive.

46
 2. THE METHOD OF SECTIONS
 In this method, the equilibrium of a
portion of the truss is considered which
is obtained by cutting the Truss by some
imaginary section.
 Consider a Truss as shown in figure. Cut
the Truss into two separate portions by
passing an imaginary section through
those members in which forces are to be
determined.
 The section mn cuts the members EF, BF
and BC and the internal forces in these
members become the external forces
acting on the two portions of the Truss as
47
shown in figure.
 2. THE METHOD OF SECTIONS

 The equilibrium of the entire truss implies that every part of the truss would also be in
equilibrium. Therefore, three equations of equilibrium can be written for any one portion of the
Truss and can be solved to determine the three unknowns.
ΣFx = 0, ΣFy = 0 and ΣM = 0
 Following points should be noted while using the method of section:
 The section should be passed through the members and not through the joints.
 A section should divide the truss into two clearly separate and unconnected portions.
 A section should cut only three members since only 3 unknowns can be determined from the
three equations of equilibrium. However, in special cases more than three members may be cut.
 When using the moment equation, the moment can be taken about any convenient point which
may or may not lie on the section under consideration. 48
 EXAMPLE 2

 Find the axial force in the member DE of the Truss using the method of sections.

49
 SOLUTION

 Determine reactions at the supports, considering

entire Truss as a FBD.
 RA =2.5 kN and RC = 3.5 kN.
 For determining force in DE, pass a section
cutting the member DE and any two other
members of the Truss so as to divide the truss
into two separate portions. The total number of
members cut should not exceed 3.
 There can be more than one way to pass a
section (mn or op). Consider the truss as cut by
the section mn. The two portions of the Truss are
as shown in figure. 50
 SOLUTION

 Assume and mark directions of forces in the

cut members.
 Forces in cut members can be assumed to act
away from the joints.
 But, the directions of the axial forces assumed
in a member in the two portions of the truss
must be consistent with the principle of action
and reaction.
 For example, if the force in the member DE at
the joint D is shown to act from left to right
then at the joint E it must be shown to act
51
from right to left (i.e., tension).
 SOLUTION

 Consider, equilibrium of the left-hand portion of truss.

 The three unknown forces acting on the portion of the truss are FDE, FDB and
FAB.
 Write the equations of equilibrium. Taking moments about B,
 𝑀𝐵 = 0: 2000 3sin30° − 𝑅𝐴 3 + 𝐹𝐷𝐸 (3 cos 30°) = 0
 2000 3 ∗ 0.5 − 3𝑅𝐴 + 𝐹𝐷𝐸 (3 ∗ 0.866) = 0
1500
 𝐹𝐷𝐸 =
0.866

 𝐹𝐷𝐸 = 1732 𝑁 (𝑇)

 It may be noted that the moment centre B chosen about, does not lie on the
section of the Truss under consideration. 52
 GRAPHICAL METHOD OF ANALYSIS OF SIMPLE TRUSSES

 The graphical methods of solving the problems of statics are based on the graphical
representation of a force by a vector and the law of polygon of forces.
 The implementation of the procedure shall require the concepts of Bows notation.
 The graphical methods have the advantage that a person with the limited knowledge of
statics can be trained to use the method mechanically, almost like a tool, and can solve the
problem easily and efficiently.

53
 GRAPHICAL METHOD OF ANALYSIS OF SIMPLE TRUSSES:
MAXWELL DIAGRAM
 The graphical method for determining the axial forces in the members of a simple truss is the method of joints,
implemented graphically. The method consists of following steps:
1. Drawing of the truss to a suitable scale and the representation of the forces acting on it.
2. Representation of all the forces (External forces, reactions and the axial forces in the members of the truss)
using Bow’s notation. In bow’s notation the spaces between the lines of action of the various forces are
denoted by letters A, B etc., A force then is represented by the letters denoting the two spaces separated
by the line of action of the force.
3. Construction of Maxwell diagram for the truss (also called vector diagram) by considering the equilibrium
of the each joint. But at no time the number of unknown forces at a joint should exceed two.
4. Determination of the magnitudes and the nature (tension or compression) or forces in the members using
the Maxwell diagram and Bow’s notation.
 The method is illustrated with the help of the following examples: (A) A simple supported truss
54
(B) A cantilever truss (C) A truss involving more than two unknown forces at a joint.