STUDY MATERIAL

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ENGINEERING MECHANICS –I
(ESCME102)
 Module – 1
Vectors & Tensors

1. If three vectors are a 𝑖⃗+a 𝑗⃗+c 𝑘⃗⃗ , 𝑖⃗ + 𝑘⃗⃗ and c 𝑖⃗+c 𝑗⃗+b⃗ ⃗𝑘⃗ are coplanar, prove that
c is a geometric mean of a and b. (BL4)
2. Let 𝑎⃗, 𝑏⃗⃗ and 𝑐⃗ be the non-zero vectors such that 𝑐⃗ is a unit vector perpendicular
to both 𝑎⃗ and 𝑏⃗⃗ . If the angle between 𝑎⃗ and , show that (
(BL4)
3. If 𝑎⃗ , 𝑏⃗⃗ and 𝑐⃗ are the vertices of a triangle, Prove that ×
𝑏⃗⃗ ) gives the vector area of a triangle. Verify the condition that the three
points 𝑎⃗ , 𝑏⃗⃗ and 𝑐⃗ are collinear. (BL5)
4. Find a vector and
with y− and z− axis respectively. (BL5)
5. An elastic rubber band is attached to points A and B as shown, Formulate its
length and direction to be measured from A towards B (BL6)

6. A house with 95 tonne mass is built on a steep slope defined by points A, B,

and C. To help assess the possibility of slope failure (mud slide), it is necessary
to
(a) Construct the components of the weight in directions normal and
parallel (tangent) to the slope.
(b) Formulate the smallest distance from point O to the slope. (BL6)
 Module – 2
Force & Equilibrium System

1. Two forces F1 and F2 acting at an angle θ have a resultant R. If each force is

increased by R, prove that the new resultant made with R an angle ϕ such that

(BL4)
2. The forces 20 N, 30 N, 40 N, 50 N and 60 N are acting at one of the angular
points of a regular hexagon, towards the other five angular points, taken in
order. Find the magnitude and direction of the resultant force. (BL4)
3. Formulate the tension in cables BA and BC necessary to support the 60kg
cylinder. (BL5)

4. A uniform beam AB is held by cable BC in the position as shown in the figure.

If the tension in cable is 200N, then evaluate a suitable weight of the beam
and the reaction of the pin at A respectively. (BL5)
5. The cable and pulley system shown is used by a camper to hoist a backpack.
The camper pulls at D. If the cables AB and AC have breaking strengths of
200N and cable DAE has a breaking strength of 100 N, determine the largest
weight W that may be lifted. (BL6)
 Module – 3
Friction

Whenever the surface of a body slides over another, each body experiences a contact force which
always opposes the relative motion between the surfaces. This contact force is called frictional
force. Intermolecular interaction arising due to elastic properties of matter is the cause of frictional
force.This force acts tangentially to the interface of two bodies.
Cause of Friction:
Old view:
Earlier it was thought that roughness of the two surfaces causes friction in the figure because it can
be easily seen that smoother the surfaces, lesser is the friction. Interlocking of irregularities of the
two surfaces causes hindrance to sliding. This, however, is not the current view.
Current view:
The current view is a slight deviation from the old view. Earlier we thought that interlocking of
irregularities of surfaces was causing friction. Now, it is though that due to irregularities, the
common surface area which is in actual contact of the two surfaces, is much less than the total
overall area in contact. In one experiment, it came out to be 1/10,000th of the apparent area.

Thus, while the total interactive (action and reaction) forces between the two surfaces remain the
same, the pressures at the points of contact are extremely high and cause the humps to flatten out
(undergoing plastic deformation) until the increased area of contact enables the upper solid to be
supported. It is thought that at the points of contact, small, cold-welded joints are formed by the
strong adhesive forces between molecules which are very close together. These have to be broken
away before one surface can move over the other. Thus, the force of friction is found to depend
upon the following factors.
Methods of Reducing Friction:
Friction can be reduced if we try to remove the cause of friction.
(a) By rubbing and polishing
(b) By lubricants
(c) By converting sliding into rolling friction
(d) By streamlining
Questions
1. Two heavy right circular rollers of diameters D and d, respectively rest on a rough
horizontal plane. The larger roller has a string wound around it through which a horizontal
force P is applied. Assuming coefficient of static friction µ has same value for all the
surfaces of contact, find the necessary condition under which the larger roller can be pulled
over the smaller one.

2. A single square threaded scissor-type screw jack has mean diameter 10 mm and a lead 3
mm with coefficient of friction 0.20 between the threads. Calculate the lifting and lowering
moment to be applied on the jack for 1000 kg payload.

3. Three workers are pulling a box of 600 N on an inclined plane which makes an angle of
15 deg with horizontal as shown in Fig. If the coefficient of friction between the box and
the surface is 0.2 and the rope used to pull the box remains horizontal, determine the
following:
(a) The force P1 to be exerted by the workers to make the box start sliding up the incline.
(b) When one of workers allows the rope to slip from his hand for a moment, determine the
minimum force P2, exerted by other two workers to prevent the box from sliding back
down the incline.
Illustrate each case with freebody diagram.
 Module – 4
Basic structural analysis

Syllabus: Equilibrium in three dimensions; Method of sections; Method of joints; How to

determine if a member is in tension or compression; Simple trusses; Zero force members.

Equilibrium: In physics, the condition of a system when neither its state of motion nor its internal
energy state tends to change with time. A simple mechanical body is said to be in equilibrium if it
experiences neither linear acceleration nor angular acceleration; unless it is disturbed by an outside
force, it will continue in that condition indefinitely. For a single particle, equilibrium arises if the
vector sum of all forces acting upon the particle is zero. A rigid body (by definition distinguished
from a particle in having the property of extension) is considered to be in equilibrium if, in addition
to the states listed for the particle above, the vector sum of all torques acting on the body equals
zero so that its state of rotational motion remains constant.
Statics deals primarily with the description of the force conditions necessary and sufficient to
maintain the equilibrium of engineering structures. When a body is in equilibrium, the resultant of
all forces acting on it is zero. Thus, the resultant force R and the resultant couple M are both zero,
and we have the equilibrium equation:

R = ΣF = 0 M = ΣM = 0
These requirements are both necessary and sufficient conditions for equilibrium.
Equilibrium in three dimensions: All physical bodies are three-dimensional, but we can treat
many of them as two-dimensional when the forces to which they are subjected act in a single plane
or can be projected onto a single plane. When this simplification is not possible, the problem must
be treated as three dimensional.

Procedure for analysis:

A. Three dimensional force equilibrium problems for a particle can be solved using the
following procedure:
1. Free-body diagram:
a. Establish the x, y, z axes in any suitable orientation.
b. Label all of the known and unknown force magnitudes and direction of the diagram.
c. The sense of the force having an unknown magnitude can be assumed.
2. Equation of equilibrium:
a. Use the scalar equations of equilibrium, ΣFx = 0, ΣFy = 0, ΣFz = 0, in cases where
it is easy to resolve each force into its x, y, z components.
b. If the three-dimensional geometry appears difficult, then first express each force on
the free-body diagram as a Cartesian vector. Substitute these vectors into ΣF = 0,
and then set the i, j, k components equal to zero.
 c. If the solution for a force yields a negative result, this indicates that its sense is the
reverse of that shown on the free-body diagram.
B. Three-dimensional force equilibrium problems for a rigid body can be solved using the
following procedure:
1. Free-body diagram:
a. Draw an outlined shape of the body
b. Show all forces and couple moments acting on the body.
c. Establish the origin of the x, y, z axes at a convenient point and orient the axes so
that they are parallel to as many of the external forces and moments as possible.
d. Label all the loadings and specify their directions. In general, show all the unknown
components having a positive sense along the x, y, z axes.
e. Indicate the dimensions of the body necessary for computing the moments of
forces.
2. Equations of equilibrium:
a. If the x, y, z components and moment components seem easy to determine, then
apply the six scalar equations of equilibrium; otherwise use the vector equations.
b. It is not necessary that the set of axes chosen for moment summation coincide with
the set of axes chosen by momentum summation. Actually, an axis in any arbitrary
direction may be chosen for summing forces and moments.
c. Choose the direction of an axis for moment summation such that it intersects the
lines of action of as many unknown forces as possible. Realize that the moments of
forces passing through points on this axis and the moments of forces which are
parallel to the axis will then be zero.
d. If the solution of the equilibrium equations yields a negative scalar for a force or
couple moment magnitude, it indicates that the sense is opposite to that assumed on
the free-body diagram.
When solving an equilibrium problem, we should first check to see that the body is statically
determinate. If there are more supports than are necessary to hold the body in place, the body
is statically indeterminate, and the equations of equilibrium by themselves will not enable us
to solve for all of the external reactions. In applying the equations of equilibrium, we choose
scalar algebra, vector algebra, or graphical analysis according to both preference and
experience; vector algebra is particularly useful for many three-dimensional problems. The
algebra of a solution can be simplified by the choice of a moment axis which eliminates as
many unknowns as possible or by the choice of a direction for a force summation which avoids
reference to certain unknowns. A few moments of thought to take advantage of these
simplifications can save appreciable time and effort.
Problems:
1. A 200-N force is applied to the handle of the hoist in the direction shown. The bearing A
supports the thrust (force in the direction of the shaft axis), while bearing B supports only
radial load (load normal to the shaft axis). Determine the mass m which can be supported
and the total radial force exerted on the shaft by each bearing. Assume neither bearing to
be capable of supporting a moment about a line normal to the shaft axis. (BL:5, Evaluate)
2. When on level ground, the car is placed on four individual scales—one under each tire.
The four scale readings are 4300 N at A, 2900 N at B, 3000 N at C, and 4600 N at D.
Determine the x- and y-coordinates of the mass center G and the mass of the car. (BL:4,
Analysis)

3. The light bracket ABC is freely hinged at A and is constrained by the fixed pin in the smooth
slot at B. Calculate the magnitude R of the force supported by the pin at A under the action
of the 80- N m applied couple. (BL:5, Evaluate)

4. A vertical force P on the foot pedal of the bell crank is required to produce a tension T of
400 N in the vertical control rod. Determine the corresponding bearing reactions at A and
B. (BL:6, Create)
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. To determine the forces internal to an engineering
structure, we must dismember the structure and analyze separate free-body diagrams of individual
members or combinations of members. This analysis requires careful application of Newton’s third
law, which states that each action is accompanied by an equal and opposite reaction.
Plane Trusses:
A framework composed of members joined at their ends to form a rigid structure is called a truss.
Bridges, roof supports, derricks, and other such structures are common examples of trusses.
Structural members commonly used are I-beams, channels, angles, bars, and special shapes which
are fastened together at their ends by welding, riveted connections, or large bolts or pins. When the
members of the truss lie essentially in a single plane, the truss is called a plane truss.

Structures built from a basic triangle are known as simple trusses. When more members are
present than are needed to prevent collapse, the truss is statically indeterminate. A statically
indeterminate truss cannot be analyzed by the equations of equilibrium alone. Additional members
or supports which are not necessary for maintaining the equilibrium configuration are called
redundant.

Design of truss:
Assumptions of design:
a. All loadings are applied at the joints.
b. The members are joined together by smooth pins.

Because of these two assumptions, each truss member will act as a two-force member and therefore
the force acting at each end of the member will be directed along the axis of the member.

The method of joints:

In order to analyze or design a truss, it is necessary to determine the force in each of its members.
One way to do this is to use the method of joints. This method is based on the fact that if the entire
truss is in equilibrium, then each of its joints is also in equilibrium.
Procedure for analysis:
The following procedure provides a means for analyzing a truss using the method of joints.
o Draw the free-body diagram of a joint having at least one known force and at most
two unknown forces. (If this joint is at one of the supports, then it may be necessary
first to calculate the external reactions at the support.)
o Use one of the methods (by inspection or assumption and applying condition of
equilibrium) for establishing the sense of an unknown force.
o Orient the x and y axes such that the force on the free-body diagram can be easily
resolved into their x and y components and then apply the two force equilibrium
equations ∑Fx = 0 and ∑Fy = 0. Solve for the two unknown member forces and
verify their correct sense.
o Using the calculated results, continue to analyze each of the other joints. Remember
that a member in compression pushes on the joint and a member in tension pull on
the joint. Also be sure to choose a joint having at most two unknowns and at least
one known force.
The method of section:
When analyzing plane trusses by the method of joints, we need only two of the three equilibrium
equations because the procedures involve concurrent forces at each joint. We can take advantage
of the third or moment equation of equilibrium by selecting an entire section of the truss for the
free body in equilibrium under the action of a non-concurrent system of forces. This method of
sections has the basic advantage that the force in almost any desired member may be found directly
from an analysis of a section which has cut that member. Thus, it is not necessary to proceed with
the calculation from joint to joint until the member in question has been reached. In choosing a
section of the truss, we note that, in general, not more than three members whose forces are
unknown should be cut, since there are only three available independent equilibrium relations.
Procedure for analysis:
The forces in the members of a truss may be determined by the method of sections using the
following procedure.
Free-body diagram

• Make a decision on how to cut or section the truss through the members where forces are
to be determined.
• Before isolating the appropriate section, it may first be necessary to determine the truss’s
support reactions. If this is done then the three equilibrium equations will be available to
solve for member forces at the section.
• Draw the free body diagram at that segment of the sectioned truss which has the least
number of forces acting on it.
• Use one of the two methods described above for establishing the sense of the unknown
member forces.
Equations of equilibrium:

• Moments should be summed about a point that lies at the intersection of the lines of action
of two unknown forces, so that the third unknown force can be determined directly from
the moment equation.
• If two of the unknown forces are parallel, forces may be summed perpendicular to the
direction of these unknowns to determine directly the third unknown force.
Zero force member:
Zero force members in a truss are members which do not have any force in them. There are two
rules that may be used to find zero-force members in a truss.
Case 1
At a TWO member joint: If those members are NOT parallel AND there are no other
external loads (or reactions) at the joint THEN both of those members are zero force
members.
Case 2
In a THREE member joint: If TWO of those members ARE parallel AND there are no other
external loads (or reactions) at the joint THEN the member that is not parallel is a zero
force member.

Problems:

1. Determine the force in each member of the loaded truss. Make use of the symmetry of
the truss and of the loading. (BL:4, Analyze)
2. Calculate the forces in members AB, BH, and BG. Members BF and CG are cables
which can support tension only. (BL:5, Evaluate)

3. Determine the force in each member of the loaded truss. (BL:5, Evaluate)

4. Determine the forces in members CG and GH of the symmetrically loaded truss.

(BL:5, Evaluate)
5. Determine the force in member DG for the truss in terms of the load L. All internal
angles are 60o (BL:4, Analyze)
 Module – 5
Centre of gravity & Moment of inertia

Centre of gravity
A body of mass m in equilibrium under the action of tension in the cord, and
resultant W of the gravitational forces acting on all particles of the body.

Suspend the body from different points on the body

- Dotted lines show lines of action of the resultant force in each case.
- These lines of action will be concurrent at a single point G
As long as dimensions of the body are smaller compared with those of the earth.

- we assume uniform and parallel force field due to the gravitational attraction
of the earth.
The unique Point G is called the Center of Gravity of the body (CG)

Determination of CG
- Apply Principle of Moments
Moment of resultant gravitational
force W about any axis equals sum of the
moments about the same axis of the
gravitational forces dW acting on all particles
treated as infinitesimal elements.
Weight of the body W = ∫dW
Moment of weight of an element (dW) @ x-axis = ydW Sum
of moments for all elements of body = ∫ydW

Numerator of these expressions represents the sum of the moments;

Product of W and corresponding coordinate of G represents the
moment of the sum →Moment Principle.

Center of Mass and Centroids

Determination of CG
Substituting

In vector notations:

W = mg
and dW = gdm
Density ρ of a body = mass per unit volume
→Mass of a differential element of volume dV →dm= ρdV →ρ
may not be constant throughout the body

Center of Mass and Centroids

Center of Mass: Following equations independent of g

→They define a unique point, which is a function of distribution of mass

→This point is Center of Mass (CM)
→CM coincides with CG as long as gravity field is treated as uniform and parallel
→CG or CM may lie outside the body
CM always lie on a line or a plane of symmetry in a homogeneous body.

Centroids of Lines, Areas, and Volumes

Centroid is a geometrical property of a body
→When density of a body is uniform throughout, centroid and CM coincide

Examples: Centroids

1. Locate the centroid of the triangle along h from the base

2. Locate the centroid of the circular arc
Area Moments of Inertia

• Previously considered distributed forces which were proportional to the area or

volume over which they act.
- The resultant was obtained by summing or integrating over the areas or volumes. -
The moment of the resultant about any axis was determined by computing the first
moments of the areas or volumes about that axis.

• Will now consider forces which are proportional to the area or volume over
which they act but also vary linearly with distance from a given axis. - the
magnitude of the resultant depends on the first moment of the force
distribution with respect to the axis.
- The point of application of the resultant depends on the second moment of the
distribution with respect to the axis.

• Consider distributed forces whose magnitudes are proportional to the

elemental areas on which they act and also vary linearly with the distance
of from a given axis.
• Example: Consider a beam subjected to pure bending. internal forces vary
linearly with distance from the neutral axis which passes through the section
centroid.
Example
1. Determine the moment of inertia of a triangle with respect to its base.
 2. a) Determine the centroidal polar moment of inertia of a circular area by
direct integration.
b) Using the result of part a, determine the moment of inertia of a circular
area with respect to a diameter.

Problems
1. Use appropriate method to locate the centroid of the plane shaded area
shown below. (BL:5, Evaluate)
2. Determine x- and y-coordinates of the centroid of the trapezoidal area and
compare with the centroid of a rectangle. (BL:4, Analysis)

3. How Pappus theorem for revolution can be used to determine the volume V
of the solid generated by revolving the area shown through 180o about the
zaxis? also find total surface area A. (BL:6, Create)
4. Determine moment of inertia of the area under the parabola about x-axis.
Solve by using (a) a horizontal strip of area and (b) a vertical strip of area
(BL:5, Evaluate)

5. Ajay has developed a new type of cap. Determine the area of the surface of
revolution shown, so that how much cloth will be required to make one cap
can be calculated? (BL:6, Create)
 Module – 6
Basic Concept of Bending Moment

1. Draw the SF and BM diagram for the following beam. (BL4).

2. Sketch the SF and BM diagram for the following beam shown. Find (a) the magnitude
and position of maximum bending moment (b) point of contra flexure. (BL5).

3. Draw SF and BM diagram for the following beam. (BL4).

4. Draw the SF and BM diagram for the beam and also calculate the maximum bending
moment. (BL5).
 Module – 7
Virtual Work and Energy Method
Questions.

1. Using the principle of virtual work analyse the following system and determine the angle
ϴ for a given force 15 N for the two uniform hinged bars and length 10 M weight 100 N
as shown in figure ( BL 4, Analyse ) Mark- 10

2. The arrangement shown in figure is required to remain in state of equilibrium. Evaluate

an expression for tension in the cable in terms of ϴ and load W ( use method of virtual
work) (BL-5 , Evaluate ) Mark- 5