Lecture Materials on ME 1209

Course Name: Engineering Mechanics I

Credit: 3.0

Presentation by -

Dr. A. N. M. Mizanur Rahman

Professor
Department of Mechanical Engineering
Khulna University of Engineering & Technology
email: drmizan@[Link]; drmizan84@[Link]

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 Lecture by: Dr. A. N. M. Mizanur Rahman
Khulna University of Engineering & Technology, Khulna 9203

Reference Books:
• Vector Mechanics for Engineers: Statics & Dynamics – Beer & Johnston
• Engineering Mechanics: Statics & Dynamics – Shames
• Analytical Mechanics – V. M. Faires
• Engineering Mechanics: Statics & Dynamics - Singer
What is Mechanics? • Categories of Mechanics:
• Mechanics is that branch of physical ➢ Mechanics of Rigid bodies
science which describes and predicts the ▪ Statics & Dynamics
conditions of rest or motion of bodies ➢ Mechanics of Deformable bodies
under the action of forces. ➢ Mechanics of Fluids
• Mechanics of Rigid bodies – usually simply called mechanics which is a study of the
external forces on bodies ordinarily rigid bodies or bodies considered to be rigid and the
effects of these forces on the motion of the bodies.
• In this part of the study of Mechanics, bodies are assumed to be perfectly rigid.

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 Lecture by: Dr. A. N. M. Mizanur Rahman
Khulna University of Engineering & Technology, Khulna 9203

• Actual structures and machines, however, are never absolutely rigid and deform under loads
to which they are subjected.
• But these deformations are usually small and do not appreciably affect the conditions of
equilibrium or motion of the structure under consideration.
• It includes the study of – Statics and Dynamics.
• Statics – which deals with the forces acting on bodies or structures that are at rest relative to
the earth or that are moving with a constant velocity/speed.
• Dynamics – which deals with the motion of bodies as it is affected by external forces.
• Mechanics is an applied science - it is not an abstract or pure science but does not have the
empiricism found in other engineering sciences.

• Mechanics is the foundation of most engineering sciences and is an indispensable prerequisite

to their study.

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 Lecture by: Dr. A. N. M. Mizanur Rahman
Khulna University of Engineering & Technology, Khulna 9203

Fundamental Principles
• The study of mechanics rests on 6 fundamental principles based on experimental
evidence.
✓The parallelogram law for addition of forces;
✓The principle of transmissibility;
✓Newton’s three fundamental laws: (i) 1st law, (ii) 2nd law, (iii) 3rd law
✓Newton’s law of gravitation

• Parallelogram Law • Principle of Transmissibility

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 Lecture by: Dr. A. N. M. Mizanur Rahman
Khulna University of Engineering & Technology, Khulna 9203

• Newton’s 1st Law: If the resultant force on a particle is zero, the particle will remain at rest or
continue to move in a straight line.

• Newton’s 2nd Law: A particle will have an acceleration proportional to a non-zero resultant
applied force.  
F = ma
• Newton’s 3rd Law: The forces of action and reaction between two particles have the same
magnitude and line of action with opposite sense.

• Newton’s Law of Gravitation: Two particles are attracted with equal and opposite forces,

Mm GM
F =G W = mg , g=
r2 R2

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 Lecture by: Dr. A. N. M. Mizanur Rahman
Khulna University of Engineering & Technology, Khulna 9203

Fundamental Concepts
• Space - associated with the notion of the position of a point P given in terms of three
coordinates measured from a reference point or origin.

• Time - definition of an event requires specification of the time and position at which it
occurred.

• Mass - used to characterize and compare bodies, e.g., response to earth’s gravitational
attraction and resistance to changes in translational motion.

• Force - represents the action of one body on another. A force is characterized by its point of
application, magnitude, and direction, i.e., a force is a vector quantity.

• In Newtonian Mechanics, space, time, and mass are absolute concepts, independent of each
other. Force, however, is not independent of the other three.
• The force acting on a body is related to the mass of the body and the variation of its velocity
with time.
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 Lecture by: Dr. A. N. M. Mizanur Rahman
Khulna University of Engineering & Technology, Khulna 9203

• Kinetic Units: length, time, mass, • International System of Units (SI):

and force. The basic units are length, time, and mass which are
arbitrarily defined as the meter (m), second (s), and
• Three of the kinetic units, referred to kilogram (kg). Force is the derived unit,
as basic units, may be defined F = ma
arbitrarily.
 m 
1 N = (1 kg )1 2 
 s 
• The 4th unit, referred to as a derived
unit, must have a definition
compatible with Newton’s 2nd Law, • U.S. Customary Units:
  The basic units are length, time, and force which are
F = ma arbitrarily defined as the foot (ft), second (s), and
pound (lb). Mass is the derived unit,

F
m =
a
1 lb
1 slug =
1 ft s
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 Lecture by: Dr. A. N. M. Mizanur Rahman
Khulna University of Engineering & Technology, Khulna 9203

Method of Problem Solution

• Problem Statement: • Solution Check:

Includes given data, specification of what is to ✓ Test for errors in reasoning by verifying that the
be determined, and a figure showing all units of the computed results are correct;
quantities involved.
✓ test for errors in computation by substituting
• Free-Body Diagrams: given data and computed results into previously
Create separate diagrams for each of the unused equations based on the six principles;
bodies involved with a clear indication of all
forces acting on each body. ✓ always apply experience and physical intuition
to assess whether results seem “reasonable”

• Fundamental Principles:
The six fundamental principles are applied to
express the conditions of rest or motion of each
body. The rules of algebra are applied to solve
the equations for the unknown quantities.

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 Lecture by: Dr. A. N. M. Mizanur Rahman
Khulna University of Engineering & Technology, Khulna 9203

• The objective for the current chapter is to investigate the effects of forces on particles:

- replacing multiple forces acting on a particle with a single equivalent or

resultant force,

- relations between forces acting on a particle that is in a state of equilibrium.

• The focus on particles does not imply a restriction to miniscule bodies. Rather, the
study is restricted to analyses in which the size and shape of the bodies is not
significant so that all forces may be assumed to be applied at a single point.

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 Lecture by: Dr. A. N. M. Mizanur Rahman
Khulna University of Engineering & Technology, Khulna 9203

What is force?
• Force is a vector quantity. The characteristics of a force vector are that it has –
(i) magnitude
(ii) sense or direction
(iii) location or point of application, and
(iv) line of action

• In mechanics, a force arises out of the interaction of two bodies and causes or tends to cause
motion of bodies.
• If a body is pushed by another body, motion may or may not occur, but it is important to
recognize that the body being pushed also pushes back.

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 Lecture by: Dr. A. N. M. Mizanur Rahman
Khulna University of Engineering & Technology, Khulna 9203

• System of forces may be classified in to two: Coplanar and Non-coplanar force system.
✓Coplanar force system – in which the force vectors are all in the same plane; and
✓Non-coplanar force system – in which the force vectors are not all in the same plane. Force
systems in this category are often called forces in space.
• System of forces may also be classified as follows:
➢ Collinear for system – in which all the forces act along the same line of action. A collinear
force system is necessarily coplanar.
➢ Concurrent for system – in which all the lines of action intersect at one point. A concurrent
force system may be either coplanar or non-coplanar, provided that there are more than two
forces. Since a plane can always be passed through two intersecting lines, a concurrent force
system of two forces is coplanar.
➢ Non-concurrent force system – in which the lines of action of the force vectors do not interest
at a point. A non-concurrent force system may be either coplanar or non-coplanar.

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 Lecture by: Dr. A. N. M. Mizanur Rahman
Khulna University of Engineering & Technology, Khulna 9203

Non-Coplaner Force System

P
S
Q

Co-planer Force System

Co-linear Force System

S P

Q
Non-Colinear Force System T
Concurrent Force System

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 Lecture by: Dr. A. N. M. Mizanur Rahman
Khulna University of Engineering & Technology, Khulna 9203

• Experimental evidence shows that the combined effect of two

forces may be represented by a single resultant force.

• The resultant is equivalent to the diagonal of a parallelogram

which contains the two forces in adjacent legs.

• Vector: parameters possessing magnitude and direction which

add according to the parallelogram law. Examples:
displacements, velocities, accelerations.
• Scalar: parameters possessing magnitude but not direction.
Examples: mass, volume, temperature

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 Lecture by: Dr. A. N. M. Mizanur Rahman
Khulna University of Engineering & Technology, Khulna 9203

• Vector classifications:
- Fixed or bound vectors have well defined points of application that
cannot be changed without affecting an analysis.
- Free vectors may be freely moved in space without changing their
effect on an analysis.
- Sliding vectors may be applied anywhere along their line of action
without affecting an analysis.

• Equal vectors have the same magnitude and direction.

• Negative vector of a given vector has the same magnitude and the opposite
direction.

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 Lecture by: Dr. A. N. M. Mizanur Rahman
Khulna University of Engineering & Technology, Khulna 9203

• Trapezoid rule for vector addition

• Triangle rule for vector addition

• Law of cosines,
C
B R 2 = P 2 + Q 2 − 2 PQ cos B
  
C R = P+Q

• Law of sines,
sin A sin B sin C
= =
B Q R A

• Vector addition is commutative,

   
P+Q = Q+ P

• Vector subtraction

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 Lecture by: Dr. A. N. M. Mizanur Rahman
Khulna University of Engineering & Technology, Khulna 9203

• Addition of three or more vectors through repeated

application of the triangle rule

• The polygon rule for the addition of three or more vectors.

• Vector addition is associative,

        
P + Q + S = (P + Q ) + S = P + (Q + S )

• Multiplication of a vector by a scalar

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 Lecture by: Dr. A. N. M. Mizanur Rahman
Khulna University of Engineering & Technology, Khulna 9203

• Concurrent forces: set of forces which all pass through the same
point.

A set of concurrent forces applied to a particle may be replaced

by a single resultant force which is the vector sum of the applied
forces.

• Vector force components: two or more force vectors which,

together, have the same effect as a single force vector.

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 Lecture by: Dr. A. N. M. Mizanur Rahman
Khulna University of Engineering & Technology, Khulna 9203

Solution:
• Graphical solution - construct a parallelogram with sides
in the same direction as P and Q and lengths in
proportion. Graphically evaluate the resultant which is
equivalent in direction and proportional in magnitude to
the diagonal.

The two forces act on a bolt at • Trigonometric solution - use the triangle rule for vector
A. Determine their resultant. addition in conjunction with the law of cosines and law
of sines to find the resultant.

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 Lecture by: Dr. A. N. M. Mizanur Rahman
Khulna University of Engineering & Technology, Khulna 9203

• Graphical solution - A parallelogram with sides equal to P and Q is

drawn to scale. The magnitude and direction of the resultant or of
the diagonal to the parallelogram are measured,

R = 98 N  = 35

• Graphical solution - A triangle is drawn with P and Q head-to-tail

and to scale. The magnitude and direction of the resultant or of
the third side of the triangle are measured,

R = 98 N  = 35

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 Lecture by: Dr. A. N. M. Mizanur Rahman
Khulna University of Engineering & Technology, Khulna 9203

• Trigonometric solution - Apply the triangle rule.

From the Law of Cosines,

R 2 = P 2 + Q 2 − 2 PQ cos B
= (40 N )2 + (60 N )2 − 2(40 N )(60 N ) cos 155 R = 97.73N

From the Law of Sines,

sin A sin B
=
Q R
Q
sin A = sin B
R
60 N
= sin 155
97.73N
A = 15.04  = 35.04
 = 20 + A
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 Lecture by: Dr. A. N. M. Mizanur Rahman
Khulna University of Engineering & Technology, Khulna 9203

Solution:
• Find a graphical solution by applying the Parallelogram Rule for
vector addition. The parallelogram has sides in the directions of
the two ropes and a diagonal in the direction of the barge axis and
length proportional to 5000 lbf.

A barge is pulled by two tugboats. • Find a trigonometric solution by applying the Triangle Rule for
If the resultant of the forces vector addition. With the magnitude and direction of the resultant
exerted by the tugboats is 5000 lbf known and the directions of the other two sides parallel to the
directed along the axis of the ropes given, apply the Law of Sine to find the rope tensions.
barge, determine
a) the tension in each of the ropes • The angle for minimum tension in rope 2 is determined by applying
for  = 45o, the Triangle Rule and observing the effect of variations in .
b) the value of  for which the
tension in rope 2 is a minimum.
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 Lecture by: Dr. A. N. M. Mizanur Rahman
Khulna University of Engineering & Technology, Khulna 9203

• Graphical solution - Parallelogram Rule with known

resultant direction and magnitude, known directions for
sides.
T1 = 3700 lbf T2 = 2600 lbf

• Trigonometric solution - Triangle Rule with Law of Sines

T1 T2 5000 lbf
= =
sin 45 sin 30 sin 105

T1 = 3660 lbf T2 = 2590 lbf

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 Lecture by: Dr. A. N. M. Mizanur Rahman
Khulna University of Engineering & Technology, Khulna 9203

• The angle for minimum tension in rope 2 is determined by

applying the Triangle Rule and observing the effect of
variations in .

• The minimum tension in rope 2 occurs when T1 and T2 are

perpendicular.
T2 = (5000 lbf )sin 30 T2 = 2500 lbf

T1 = (5000 lbf ) cos 30 T1 = 4330 lbf

 = 90 − 30  = 60

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 Lecture by: Dr. A. N. M. Mizanur Rahman
Khulna University of Engineering & Technology, Khulna 9203

Rectangular Components of a Force: Unit Vectors

• May resolve a force vector into perpendicular components so that

the resulting parallelogram is a rectangle.
 
• Fx and Fy are referred to as rectangular
 vector components and
F = Fx + Fy
 
• Define perpendicular unit vectors i and j which are parallel to the x
and y axes.

• Vector components may be expressed as products of the unit

vectors with the scalar magnitudes of the vector components.
  
F = Fx i + Fy j

Fx and Fy are referred to as the scalar components of F

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 Lecture by: Dr. A. N. M. Mizanur Rahman
Khulna University of Engineering & Technology, Khulna 9203

Addition of Forces by Summing Components

• Wish to find the resultant of 3 or more concurrent forces,

   
R = P+Q+ S
• Resolve each force into rectangular components
       
R x i + R y j = Px i + Py j + Qx i + Q y j + S x i + S y j
= ( Px + Qx + S x )i + (Py + Q y + S y ) j
 

• The scalar components of the resultant are equal to the sum

of the corresponding scalar components of the given forces.
Rx = Px + Qx + S x R y = Py + Q y + S y
=  Fx =  Fy

• To find the resultant magnitude and direction,

−1 R y
R = Rx + R y
2 2
 = tan
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Rx 25
 Lecture by: Dr. A. N. M. Mizanur Rahman
Khulna University of Engineering & Technology, Khulna 9203

Problem 2.3
Solution:
• Resolve each force into rectangular components.

• Determine the components of the resultant by adding

the corresponding force components.

• Calculate the magnitude and direction

Four forces act on bolt A as shown. of the resultant.
Determine the resultant of the force
on the bolt.

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 Lecture by: Dr. A. N. M. Mizanur Rahman
Khulna University of Engineering & Technology, Khulna 9203

Solution:
• Resolve each force into rectangular components.
force mag x − comp y − comp

F1 150 + 129.9 + 75.0

F2 80 − 27.4 + 75.2

F3 110 0 − 110.0

F4 100 + 96.6 − 25.9 • If Rx & Ry both ‘+ve’,
Rx = +199.1 R y = +14.3 angle in the 1st quadrant.
• If Rx ‘-ve’ & Ry ‘+ve’,
• Determine the components of the resultant by angle in the 2nd quadrant.
adding the corresponding force components.
• If Rx & Ry both ‘-ve’,
• Calculate the magnitude and direction. angle in the 3rd quadrant.
R = 199.12 + 14.32 R = 199.6 N • If Rx ‘+ve’ & Ry ‘-ve’,
14.3 N angle in the 4th quadrant.
tan  =  = 4.1
199.1 N
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 Lecture by: Dr. A. N. M. Mizanur Rahman
Khulna University of Engineering & Technology, Khulna 9203

Prob 2.18/Beer: Determine the x and y components of each of the forces shown. Also, calculate
the resultant.
Solution:
30o
𝐹1𝑥 = 80 cos 30 = 69.28 𝑁 𝐹1𝑦 = −80 𝑠𝑖𝑛30 = −40.00 𝑁
50o F1 = 80N
𝐹2𝑥 = 100 𝑠𝑖𝑛 20 = 34.20 𝑁 𝐹2𝑦 = −100 cos 20 = −93.97 𝑁
F3 = 120N 20o
𝐹3𝑥 = −120 𝑠𝑖𝑛 50 = −91.93 𝑁 𝐹3𝑦 = −120 cos 50 = −77.13 𝑁 F2 = 1000N

෍ 𝐹𝑥 = 69.28 + 34.20 − 91.93 = 11.55 𝑁

෍ 𝐹𝑦 = −40.00 − 93.97 − 77.13 = −211.10 𝑁

The resultant, 𝑅 = σ 𝐹𝑥 2 + σ 𝐹𝑦 2 = 11.552 + (−211.1) 2 = 211.415 N

𝐹𝑦 211.10 𝜃= 86.87
tan 𝜃 = ൘𝐹 = − 𝜃 = 86.87
7/11/2023
𝑥 11.55 28
 Lecture by: Dr. A. N. M. Mizanur Rahman
Khulna University of Engineering & Technology, Khulna 9203

Prob 2.25/Beer: Two cables which have known tensions are attached at point A. A 3rd cable AC is
used as a guy wire and is also attached at A. Determine the required tension in AC so that the
resultant of the forces exerted by the three cables will be vertical. Also, determine the resultant.
Solution:
Since the resultant of the three forces is vertical. So, σ 𝐹𝑥 = 0

෍ 𝐹𝑥 = 𝑇𝐴𝐶 sin 36.87 − 45 cos 30 + 20 cos 12 = 0

𝑇𝐴𝐶 = 32.35 kN

෍ 𝐹𝑦 = −𝑇𝐴𝐶 cos 36.87 − 45 sin 30 − 12 sin 12 = −50.87 kN

The resultant force is 50.87 kN

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 Lecture by: Dr. A. N. M. Mizanur Rahman
Khulna University of Engineering & Technology, Khulna 9203

Problem/Beer: Find the tensions in the two cables so that their resultant is horizontal.

Solution: T1

30o
𝑅ത = 𝑅𝑥 𝑖 ҧ + 𝑅𝑦 𝑗 ҧ = 𝑅𝑥 𝑖 ҧ (Since 𝑅𝑦 = 0) α = 45o 5000 lb

= 5000 𝑖 ҧ ⸫ 𝑅𝑥 = 5000 lb

Again, 𝑇ഥ1 = 𝑇1𝑥 𝑖 ҧ + 𝑇1𝑦 𝑗 ҧ = 𝑇1 cos 30𝑖 ҧ + 𝑇1 𝑠𝑖𝑛30𝑗 ҧ T2

𝑇2 = 𝑇2𝑥 𝑖 ҧ - 𝑇2𝑦 𝑗 ҧ = 𝑇2 cos 45𝑖 ҧ − 𝑇2 𝑠𝑖𝑛45𝑗 ҧ

Since, 𝑅𝑦 = 0, ⸫ 𝑇1 sin 30 − 𝑇2 𝑠𝑖𝑛45 = 0 ⸫ 𝑇1 = 1.414𝑇2

⸫ 𝑇1 cos 30 + 𝑇2 cos 45 = 5000 ⸫Solving this, 𝑇2 = 2588.4 lb and 𝑇1 = 3660 lb

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 Lecture by: Dr. A. N. M. Mizanur Rahman
Khulna University of Engineering & Technology, Khulna 9203

Prob/Beer: A collar which may slide on a vertical rod is subjected to the forces shown. Determine (a)
the value of the angle α for which the resultant of the three forces is horizontal; (b) the corresponding
magnitude of the resultant.
400N
300N
α
෍ 𝐹𝑥 = 300 cos 𝛼 + 600 sin 𝛼 − 𝑅
R
α

෍ 𝐹𝑦 = 400 + 300 sin 𝛼 − 600 cos 𝛼 600N

Since the resultant is horizontal, that means

the y component of the resultant is zero. Solve this equations and find the results.

400 + 300 sin 𝛼 − 600 cos 𝛼 = 0

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 Lecture by: Dr. A. N. M. Mizanur Rahman
Khulna University of Engineering & Technology, Khulna 9203

Equilibrium of a Particle
• When the resultant of all forces acting on a particle is zero, the particle is in equilibrium.

• Newton’s 1st Law: If the resultant force on a particle is zero, the particle will remain at rest or will continue
at constant speed in a straight line.
Graphical Solution

• Particle acted upon by

two forces: • Particle acted upon by three or more forces:
- equal magnitude - graphical solution yields a closed polygon
- same line of action - algebraic solution
- opposite sense  
R = F = 0
7/11/2023  Fx = 0  Fy = 0 32
 Lecture by: Dr. A. N. M. Mizanur Rahman
Khulna University of Engineering & Technology, Khulna 9203

Free-Body Diagrams

Space Diagram: A sketch showing the Free-Body Diagram: A sketch showing

physical conditions of the problem. only the forces on the selected particle.

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 Lecture by: Dr. A. N. M. Mizanur Rahman
Khulna University of Engineering & Technology, Khulna 9203

Problem 2.4
In a ship-unloading operation, a 3500-lb automobile is supported by a cable.
A rope is tied to the cable and pulled to center the automobile over its
intended position. What is the tension in the rope?

Solution:
• Construct a free-body diagram for the particle at the junction of
the rope and cable.

• Apply the conditions for equilibrium by creating a closed polygon

from the forces applied to the particle.

• Apply trigonometric relations to determine the unknown force

magnitudes.
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 Lecture by: Dr. A. N. M. Mizanur Rahman
Khulna University of Engineering & Technology, Khulna 9203

Solution:
• Construct a free-body diagram for the particle at A.

• Apply the conditions for equilibrium.

 
R = F = 0
 Fx = 0  Fy = 0

• Solve for the unknown force magnitudes using Lami’s theorem.

TAB T 3500 lb
= AC =
sin 120 sin 2 sin 58
TAB = 3570 lb
T AC = 144 lb

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 Lecture by: Dr. A. N. M. Mizanur Rahman
Khulna University of Engineering & Technology, Khulna 9203

S. Problem 2.6
• It is desired to determine the drag force at a given speed on a
prototype sailboat hull. A model is placed in a test channel and
three cables are used to align its bow on the channel centerline.
For a given speed, the tension is 40 lb in cable AB and 60 lb in
cable AE.
• Determine the drag force exerted on the hull and the tension in
cable AC.

Solution:
• Choosing the hull as the free body, draw a free-body diagram.
• Express the condition for equilibrium for the hull by writing that the sum of all forces must be zero.
• Resolve the vector equilibrium equation into two component equations. Solve for the two unknown
cable tensions.

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 Lecture by: Dr. A. N. M. Mizanur Rahman
Khulna University of Engineering & Technology, Khulna 9203

Solution:
• Choosing the hull as the free body, draw a free-body diagram.
7 ft 1.5 ft
tan  = = 1.75 tan  = = 0.375
4 ft 4 ft
 = 60.25  = 20.56

• Express the condition for equilibrium for the hull by

writing that the sum of all forces must be zero.
    
R = TAB + TAC + TAE + FD = 0

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 Lecture by: Dr. A. N. M. Mizanur Rahman
Khulna University of Engineering & Technology, Khulna 9203

• Resolve the vector equilibrium equation into two component

equations. Solve for the two unknown cable tensions.
  
T AB = −(40 lb )sin 60.26 i + (40 lb ) cos 60.26 j
 
= −(34.73 lb ) i + (19.84 lb ) j
  
T AC = T AC sin 20.56 i + T AC cos 20.56 j
 
= 0.3512 T AC i + 0.9363 T AC j

T AE = −(60 lb ) j
 
FD = FD i


R=0
 
= (− 34.73 + 0.3512 T AC + FD ) i + (19.84 + 0.9363 T AC − 60 ) j = 0

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 Lecture by: Dr. A. N. M. Mizanur Rahman
Khulna University of Engineering & Technology, Khulna 9203


R=0

= (− 34.73 + 0.3512 T AC + FD ) i

+ (19.84 + 0.9363 T AC − 60 ) j

This equation is satisfied only if each component of the

resultant is equal to zero, i.e., Rx = 0 & Ry = 0.

( F x = 0 ) 0 = −34.73 + 0.3512 T AC + FD
( F y = 0 ) 0 = 19.84 + 0.9363 T AC − 60

Solving above equations for TAC & FD -

TAC = +42.9 lb
FD = +19.66 lb

7/11/2023 39
 Lecture by: Dr. A. N. M. Mizanur Rahman
Khulna University of Engineering & Technology, Khulna 9203

Problem/Beer: Two cables are tied together at C and loaded as shown. Determine the tension in
AC and AB.

TCA TCB

50o C 30o

W = 400 lb

𝑇𝐶𝐴 = −𝑇𝐶𝐴 𝑐𝑜𝑠50𝑖 ҧ + 𝑇𝐶𝐴 𝑠𝑖𝑛50𝑗,ҧ 𝑇𝐶𝐵 = 𝑇𝐶𝐵 𝑐𝑜𝑠30𝑖 ҧ + 𝑇𝐶𝐵 𝑠𝑖𝑛30𝑗,ҧ ഥ = - 400𝑗 ҧ
𝑊

𝑅ത = 0 ഥ =0
⸫ 𝑇𝐶𝐴 + 𝑇𝐶𝐵 + 𝑊 F x =0 −𝑇𝐶𝐴 𝑐𝑜𝑠50 + 𝑇𝐶𝐵 𝑐𝑜𝑠30 = 0 ⸫ 𝑇𝐶𝐴 = 1.347 𝑇𝐶𝐵

F y =0 𝑇𝐶𝐴 𝑠𝑖𝑛50 + 𝑇𝐶𝐵 𝑠𝑖𝑛30 –400 = 0

Solving above equations, 𝑇𝐶𝐴 = 351.73 lb & 𝑇𝐶𝐵 = 261.12 lb

7/11/2023 40
 Lecture by: Dr. A. N. M. Mizanur Rahman
Khulna University of Engineering & Technology, Khulna 9203

Prob 2.30/Beer: Two cables are tied together at C and loaded as shown. Determine the tension in AC and BC.

TCB
TCA
Solution:
22.62o 67.38o

Given, W = 260 kg = 2550.6 N

From the dimensions, it is evident that W = 2550.6 N
The angle
𝑇𝐶𝐴 = −𝑇𝐶𝐴 𝑐𝑜𝑠22.62𝑖 ҧ + 𝑇𝐶𝐴 𝑠𝑖𝑛22.62𝑗,ҧ 𝑇𝐶𝐵 = 𝑇𝐶𝐵 𝑐𝑜𝑠67.38𝑖 ҧ + 𝑇𝐶𝐵 𝑠𝑖𝑛67.38𝑗,ҧ ഥ = - 2550.6𝑗 ҧ
𝑊

𝑅ത = 0 ഥ =0
⸫ 𝑇𝐶𝐴 + 𝑇𝐶𝐵 + 𝑊 F x =0 −𝑇𝐶𝐴 𝑐𝑜𝑠22.62 + 𝑇𝐶𝐵 𝑐𝑜𝑠67.38 = 0 ⸫ 𝑇𝐶𝐴 = 24 𝑇𝐶𝐵

F y =0 𝑇𝐶𝐴 𝑠𝑖𝑛22.62 + 𝑇𝐶𝐵 𝑠𝑖𝑛67.38 – 2550.6 = 0

Solving above equations, 𝑇𝐶𝐴 = 981 𝑁 & 𝑇𝐶𝐵 = 2354.4 N

7/11/2023 41
 Lecture by: Dr. A. N. M. Mizanur Rahman
Khulna University of Engineering & Technology, Khulna 9203

Problem 2.33/Beer: Two ropes are tied together at C. If the permissible tension is each rope is 2.5 kN, what
is the force F that may be applied? In what direction must this maximum force act?

7/11/2023 42
 Lecture by: Dr. A. N. M. Mizanur Rahman
Khulna University of Engineering & Technology, Khulna 9203

Problem 2.44/Beer: A 150-kg block is attached to a small pulley which may roll on the cable ACB. The
pulley and load are held in the position shown by a second cable DE which is parallel to the portion CB of
the main cable. Determine (a) the tension in cable ACB. (b) the tension in cable DE. Neglect the radius of
the pulleys and the weight of the cables.
P
1.2
t𝑎𝑛 𝛼 = ⸫ 𝛼 = 36.87 𝑜 TCB
1.6 TCA

1.2 β α
t𝑎𝑛 𝛽 = ⸫ 𝛽 = 20.556 𝑜
3.2
ത
For equilibrium, 𝑅=0 W

𝑇𝐶𝐴 = −𝑇𝐶𝐴 𝑐𝑜𝑠20.556𝑖 ҧ + 𝑇𝐶𝐴 𝑠𝑖𝑛20.556𝑗 ҧ 𝑃ത = 𝑃 𝑐𝑜𝑠36.87𝑖 ҧ + 𝑃 𝑠𝑖𝑛36.87𝑗 ҧ

𝑇𝐶𝐵 = 𝑇𝐶𝐵 𝑐𝑜𝑠36.87𝑖 ҧ + 𝑇𝐶𝐵 𝑠𝑖𝑛36.87𝑗 ҧ ഥ = −𝑊 𝑗 ҧ = −1471.5 𝑗 ҧ

𝑊 Solving these equations -
𝑇𝐶𝐴 = 𝑇𝐶𝐵 = 1396.9 𝑁
F x =0 −𝑇𝐶𝐴 𝑐𝑜𝑠20.556 + 𝑇𝐶𝐵 𝑐𝑜𝑠36.87 + 𝑃𝑐𝑜𝑠36.87 = 0
and P = 238.1 N
F y =0 𝑇𝐶𝐴 𝑠𝑖𝑛20.556 + 𝑇𝐶𝐵 𝑠𝑖𝑛36.87 + 𝑃𝑠𝑖𝑛36.87 − 1471.5 = 0

7/11/2023 and P=238.1 N

 Lecture by: Dr. A. N. M. Mizanur Rahman
Khulna University of Engineering & Technology, Khulna 9203

Assignment: A continuous string ABCDE passes over smooth pegs at B and D, 25 cm on centres. To the ends of
the string are attached the masses mA = 7 kg and ME = 5 kg. A 10 kg mass is attached at C and the tree bodies are
in equilibrium. Determine the distance ‘x’ and the angle θ.

25 cm
B D

x C

A 10 kg E

7/11/2023 44
 Lecture by: Dr. A. N. M. Mizanur Rahman
Khulna University of Engineering & Technology, Khulna 9203

Prob.88/Faires: Two spheres are at rest against smooth surfaces as shown. Sphere A weighs 1450 kg and
sphere B weighs 180 kg. Assuming F = 4500 N and θ = 70o, find the reactions at C, D and E.
WB
F”
A A
F B
F
3’ RE
B
C E θ
θ 1’ Rc 60o
WA F”
D RD

From free body of A,

σ 𝐹𝑥 = 0, 𝐹 + 𝑅𝑐 sin 70 − 𝐹"𝑐𝑜𝑠60 = 0 ∴ 𝐹" = 1.88𝑅𝑐 + 9000

෍ 𝐹𝑥 = 0, 𝑅𝑐 cos 70 + 𝐹"𝑠𝑖𝑛60 − 𝑊𝐴 = 0 (Substituting the value of F”)

∴ 𝑅𝑐 = 3264.1 N and 𝐹" = 15136.5 𝑁

7/11/2023 45
 Lecture by: Dr. A. N. M. Mizanur Rahman
Khulna University of Engineering & Technology, Khulna 9203

WB
F”
It is to be noted that F” is opposite to that shown in A.
From free body of B, B
σ 𝐹𝑥 = 0, 𝐹"𝑐𝑜𝑠60 − 𝑅𝐸 = 0 ∴ 𝑅𝐸 = 7568.3 𝑁 RE

෍ 𝐹𝑦 = 0, 𝑅𝐷 − 𝑊𝐵 − 𝐹"𝑠𝑖𝑛60 = 0 RD

∴ 𝑅𝐷 = 14874.4 N

7/11/2023 46
 Lecture by: Dr. A. N. M. Mizanur Rahman
Khulna University of Engineering & Technology, Khulna 9203

Prob. 84/Faires: What are the forces on the members AB and BC, if θ = 30o.

Prob. 89/Faires: In Fig. Let WA = 2000lb, WB = 500lb, WC = 5000lb and force R = 8000lb. Neglecting all frictions
so that the reactions are normal to the surfaces, find the force Q on the top of the wedge. Assume that each body is
subjected to a concurrent force system.

Prob. 91/Faires: Two weights are suspended from a flexible cable as shown in Fig. For θ = 120o, determine the
internal forces in the various parts of the cable and the weight W.

7/11/2023 47
 Lecture by: Dr. A. N. M. Mizanur Rahman
Khulna University of Engineering & Technology, Khulna 9203

Rectangular Components of Forces in Space: Consider a force F acting at the origin O of the system of
rectangular coordinates x, y, z. To determine the direction of F the vertical plane OBAC containing F is drawn.

• The vector F is contained • Resolve F into horizontal • Resolve Fh into rectangular

in the plane OBAC. and vertical components. components
F y = F cos  y Fx = Fh cos 
= F sin  y cos 
Fh = F sin  y
Fz = Fh sin 
7/11/2023
= F sin  y sin  48
 Lecture by: Dr. A. N. M. Mizanur Rahman
Khulna University of Engineering & Technology, Khulna 9203

▪ When the direction cosines are known -


• With the angles between F and the axes,

Fx = F cos  x Fy = F cos  y Fz = F cos  z

     
F = Fx i + Fy j + Fz k •  is a unit vector along the line of action of F
 and cos  x , cos
  y , and cos  z are the direction
(  
)
= F cos  x i + cos  y j + cos  z k cosines for F

= F • Magnitude of F can be obtained from –
   
 = cos  x i + cos  y j + cos  z k 𝐹= 𝐹𝑥2 + 𝐹𝑦2 +𝐹𝑧2

7/11/2023 49
 Lecture by: Dr. A. N. M. Mizanur Rahman
Khulna University of Engineering & Technology, Khulna 9203

Direction of force is defined by the location of two points on its line of action, M (x1, y1, z1) and N (x2, y2, z2)
▪ In many applications, the direction of a force F is defined by the coordinates of two points M (x1, y1, z1) and N
(x2, y2, z2) located on its line of action.
▪ Consider the vector MN joining M and N and of the same sense as F.

d = vector joining M and N
  
= d xi + d y j + d z k
d x = x2 − x1 d y = y 2 − y1 d z = z 2 − z1
 
F = F
 1 
 = (d x i + d y j + d z k )
 
d
Fd x Fd y Fd z
Fx = Fy = Fz =
d d d
7/11/2023 50
 Lecture by: Dr. A. N. M. Mizanur Rahman
Khulna University of Engineering & Technology, Khulna 9203

S. Prob. 2.7: The tension in the guy wire is 2500 N. Determine (a) components Fx, Fy, Fz of the force acting
on the bolt at A, (b) the angles x, y, z defining the direction of the force.
Solution:
• Based on the relative locations of the points A and B, determine the unit
vector pointing from A towards B.

• Apply the unit vector to determine the components of the force acting
on A.

• Noting that the components of the unit vector are the direction cosines
for the vector, calculate the corresponding angles.

• Determine the unit vector pointing from A towards B.

  
AB = (− 40 m ) i + (80 m ) j + (30 m )k
AB = (− 40 m )2 + (80 m )2 + (30 m )2
= 94.3 m
7/11/2023 51
 Lecture by: Dr. A. N. M. Mizanur Rahman
Khulna University of Engineering & Technology, Khulna 9203

  − 40    80    30  
 = i +   j + k
 94.3   94.3   94.3 
  
= −0.424 i + 0.848 j + 0.318k

• Determine the components of the force.

 
F = F

= (2500 N )(− 0.424 i + 0.848 j + 0.318k )
  𝐹𝑥 = −1060 𝑁,
𝐹𝑦 = 2120 𝑁
  
= (− 1060 N )i + (2120 N ) j + (795 N )k 𝐹𝑧 = 795 𝑁

• Noting that the components of the unit vector are the direction cosines for the
vector, calculate the corresponding angles.
     = 
 = cos  x i + cos  y j + cos  z k x 115 .1
    y = 32.0 
= −0.424 i + 0.848 j + 0.318k
 z = 71.5
7/11/2023 52
 Lecture by: Dr. A. N. M. Mizanur Rahman
Khulna University of Engineering & Technology, Khulna 9203

Prob. 2. /Beer: Determine (a) the x, y, and z components of the 900-N force, (b) the angles θx, θy, and θz that
the force forms with the coordinate axes.

7/11/2023 53
 Lecture by: Dr. A. N. M. Mizanur Rahman
Khulna University of Engineering & Technology, Khulna 9203

Prob. 2.45: Determine (a) the x, y, and z components of the 250 N force, (b) the angles x, y, and z that the
force forms with the coordinate axes.

Prob. 2.46: Determine (a) the x, y, and z components of the 300 N force, (b) the angles x, y, and z that the force
forms with the coordinate axes.

7/11/2023 54
 Lecture by: Dr. A. N. M. Mizanur Rahman
Khulna University of Engineering & Technology, Khulna 9203

Prob. 2.47: The angle between the guy wire AB and the mast is 20o. Knowing that the tension in AB 300 lb,
determine (a) the x, y, and z components of the force exerted on the boat at B, (b) the angles x, y, and z
defining the direction of the force exerted at B.

7/11/2023 55
 Lecture by: Dr. A. N. M. Mizanur Rahman
Khulna University of Engineering & Technology, Khulna 9203

Prob. 2.57/Beer: The tension in each cables AB and BC is 1350 lb. Determine the components of the resultant of the
forces exerted on point B.

7/11/2023 56
 Lecture by: Dr. A. N. M. Mizanur Rahman
Khulna University of Engineering & Technology, Khulna 9203

Prob. 2.64/Beer: The three cables are connected as shown in figure in such a way that the resultant
is vertical. The tension in cable AB is 39 kN. Determine the tension in cable AC and AD and also
the value of the resultant.

7/11/2023 57
 Lecture by: Dr. A. N. M. Mizanur Rahman
Khulna University of Engineering & Technology, Khulna 9203

Prob. 2.66/Beer: A crate is supported by three cables as shown in figure. Determine the weight W of the crate,
knowing that the tension in cable BD is 975 lb.

7/11/2023 58
 Lecture by: Dr. A. N. M. Mizanur Rahman
Khulna University of Engineering & Technology, Khulna 9203

Prob. 2.66/Beer: Three cables are connected at D, where a 15.6 kN force is applied as shown in figure.
Determine the tension in each cable.

𝐷𝐴 = −1.5𝑖 ҧ + 𝑗 ҧ + 3𝑘ത 𝐷𝐴 = 3.5

𝐷𝐵 = −1.5𝑖 ҧ + 𝑗 ҧ − 3𝑘ത 𝐷𝐴 = 3.5
𝐷𝐶 = −1.5𝑖 ҧ − 2𝑗 ҧ 𝐷𝐶 = 2.5
𝐷𝐸 = 6𝑖 ҧ − 2𝑗 ҧ + 1.5𝑘ത 𝐷𝐴 = 6.5

𝑇𝐷𝐴 ത
𝑇𝐷𝐴 = (−1.5𝑖 ҧ + 𝑗 ҧ + 3𝑘) At equilibrium, σ 𝑅ത = 0
3.5
𝑇𝐷𝐵
𝑇𝐷𝐵 = ത
(−1.5𝑖 ҧ + 𝑗 ҧ − 3𝑘) 𝑇𝐷𝐴 + 𝑇𝐷𝐵 + 𝑇𝐷𝐶 + 𝑇𝐷𝐸 = 0
3.5
𝑇𝐷𝐶
𝑇𝐷𝐶 = (−1.5𝑖 ҧ − 2𝑗)ҧ
2.5
15.6
𝑇𝐷𝐸 = ത
(6𝑖 ҧ − 2𝑗 ҧ + 1.5𝑘)
6.5
෍ 𝐹𝑥 = 0: − 0.46𝑇𝐷𝐴 − 0.46𝑇𝐷𝐵 − 0.58𝑇𝐷𝐶 + 14.09 = 0

෍ 𝐹𝑦 = 0: 0.215𝑇𝐷𝐴 + 0.215𝑇𝐷𝐵 − 0.815𝑇𝐷𝐶 − 5.283 = 0

7/11/2023 ෍ 𝐹𝑧 = 0: 0.862𝑇𝐷𝐴 − 0.862𝑇𝐷𝐵 + 4.11 = 0 59

 Lecture by: Dr. A. N. M. Mizanur Rahman
Khulna University of Engineering & Technology, Khulna 9203

Prob. 2.66/Beer: In addition to the 15.6 kN force shown, a force P is applied at D in a direction parallel to the y-axis.
Determine the required magnitude and sense of P if the tension in cable CD is to be zero.

𝐷𝐴 = −1.5𝑖 ҧ + 𝑗 ҧ + 3𝑘ത 𝐷𝐴 = 3.5

𝐷𝐵 = −1.5𝑖 ҧ + 𝑗 ҧ − 3𝑘ത 𝐷𝐴 = 3.5
𝐷𝐶 = −1.5𝑖 ҧ − 2𝑗 ҧ 𝐷𝐶 = 2.5
𝐷𝐸 = 6𝑖 ҧ − 2𝑗 ҧ + 1.5𝑘ത 𝐷𝐴 = 6.5

𝑇𝐷𝐴 ത
𝑇𝐷𝐴 = (−1.5𝑖 ҧ + 𝑗 ҧ + 3𝑘) At equilibrium, σ 𝑅ത = 0
3.5
𝑇𝐷𝐵
𝑇𝐷𝐵 = ത
(−1.5𝑖 ҧ + 𝑗 ҧ − 3𝑘) 𝑇𝐷𝐴 + 𝑇𝐷𝐵 + 𝑇𝐷𝐶 + 𝑇𝐷𝐸 + 𝑃ത = 0
3.5
𝑇𝐷𝐶
𝑇𝐷𝐶 = (−1.5𝑖 ҧ − 2𝑗)ҧ
2.5
15.6
𝑇𝐷𝐸 = 6𝑖 ҧ − 2𝑗 ҧ + 1.5𝑘ത
6.5
𝑃ത = −𝑃𝑗 ҧ ෍ 𝐹𝑥 = 0: − 0.4286𝑇𝐷𝐴 − 0.4286𝑇𝐷𝐵 + 14.40 = 0

෍ 𝐹𝑦 = 0: 0.2857𝑇𝐷𝐴 + 0.2857𝑇𝐷𝐵 − 4.8 − 𝑃 = 0

෍ 𝐹𝑧 = 0: 0.8571𝑇𝐷𝐴 − 0.8571𝑇𝐷𝐵 + 3.6 = 0

Solving these equations, P= 4.74 kN
7/11/2023 60
 Lecture by: Dr. A. N. M. Mizanur Rahman
Khulna University of Engineering & Technology, Khulna 9203

Scalar Product of Two Vectors

• The scalar product or dot product between two vectors P and Q is defined
as -
 
P . Q = PQ cos  (scalar result )

• Scalar products:
   
- are commutative, P . Q = Q. P
- are distributive,
  
(   
)
P. Q + Q = P. Q1 + P. Q2
  1 2
( )
- are not associative, P. Q . S = undefined
• Scalar products with Cartesian unit components,
( )( )
       
P. Q = Px i + Py j + Pz k . Qx i + Q y j + Qz k
         
i .i = 1 j. j = 1 k . k = 1 i . j = 0 j. k = 0 k .i = 0
 
P. Q = Px Qx + Py Q y + Pz Qz
 
P. P = Px2 + Py2 + Pz2 = P 2
7/11/2023 61
 Lecture by: Dr. A. N. M. Mizanur Rahman
Khulna University of Engineering & Technology, Khulna 9203

Scalar Product of Two Vectors: Applications

• Angle between two vectors:
 
P. Q = PQ cos  = Px Qx + Py Q y + Pz Qz
Px Qx + Py Q y + Pz Qz
cos  =
PQ

• Projection of a vector on a given axis:

POL = P cos  = projection of P along OL
 
P. Q = PQ cos 
 
P. Q
= P cos  = POL
Q

• For an axis defined by a unit vector:

 
POL = P. 
= Px cos  x + Py cos  y + Pz cos  z

7/11/2023 62
 Lecture by: Dr. A. N. M. Mizanur Rahman
Khulna University of Engineering & Technology, Khulna 9203

Mixed Triple Product of Three Vectors

• Mixed triple product of three vectors,
( )
  
S . P  Q = scalar result

• The six mixed triple products formed from S, P, and Q

have equal magnitudes but not the same sign,
( ) ( ) ( )
        
S . P  Q = P. Q  S = Q. S  P
( ) ( ) ( )
       
= − S . Q  P = − P. S  Q = − Q. P  S

• Evaluating the mixed triple product,

( )
  
S . P  Q = S x (Py Qz − Pz Q y ) + S y (Pz Qx − Px Qz )
+ S z (Px Q y − Py Qx )
Sx Sy Sz
= Px Py Pz
Qx Qy Qz
7/11/2023 63
 Lecture by: Dr. A. N. M. Mizanur Rahman
Khulna University of Engineering & Technology, Khulna 9203

7/11/2023 64
 Lecture by: Dr. A. N. M. Mizanur Rahman
Khulna University of Engineering & Technology, Khulna 9203

7/11/2023 65