ENGINEERING MECHANICS
II SEMESTER
ES 114
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INTRODUCTION
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Department of Applied Sciences, BVCOE New Delhi
Department of Applied Sciences, BVCOE New Delhi
Department of Applied Sciences, BVCOE New Delhi
Department of Applied Sciences, BVCOE New Delhi
Department of Applied Sciences, BVCOE New Delhi
Department of Applied Sciences, BVCOE New Delhi
Department of Applied Sciences, BVCOE New Delhi
Department of Applied Sciences, BVCOE New Delhi
Free Body Diagram
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Department of Applied Sciences, BVCOE New Delhi
Department of Applied Sciences, BVCOE New Delhi
Department of Applied Sciences, BVCOE New Delhi
Two spheres of weight P and Q rest inside a hollow
cylinder which is resting on a horizontal force. Draw the
free body diagram of both the spheres, together and
separately.
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Department of Applied Sciences, BVCOE New Delhi
Equilibrium of concurrent
forces in a plane
If a body known to be in equilibrium is acted upon
by several concurrent, coplanar forces, then these
forces or rather their free vectors, when
geometrically added must form a closed polygon.
This system represents the condition of equilibrium
for any system of concurrent forces in a plane.
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Department of Applied Sciences, BVCOE New Delhi
Lami’s theorem
If three concurrent forces are acting on a body kept in an
equilibrium, then each force is proportional to the sine of
angle between the other two forces and the constant of
proportionality is same.
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Problem: A ball of weight W is suspended from a string
of length l and is pulled by a horizontal force Q. The
weight is displaced by a distance d from the vertical
position as shown in Figure. Determine the angle α,
forces Q and tension in the string S in the displaced
position.
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Department of Applied Sciences, BVCOE New Delhi
Department of Applied Sciences, BVCOE New Delhi
Method of moments
Moment of a force with respect to a point:
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Department of Applied Sciences, BVCOE New Delhi
Theorem of Varignon:
The moment of the resultant of two concurrent forces
with respect to a centre in their plane is equal to the
algebraic sum of the moments of the components
with respect to some centre.
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Parallel forces on a plane
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Department of Applied Sciences, BVCOE New Delhi
Department of Applied Sciences, BVCOE New Delhi
Problem 1: Owing to weight W of the locomotive shown in figure, the reactions at the
two points of support A and B will each be equal to W/2. When the locomotive is
pulling the train and the drawbar pull P is just equal to the total friction at the points of
contact A and B, determine the magnitudes of the vertical reactions Ra and Rb.
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Department of Applied Sciences, BVCOE New Delhi
Centre of Gravity
CENTRE OF GRAVITY
Centre of gravity can be defined as the point through which the resultant of force of
gravity of the body acts.
CENTROID
The plane figures (like triangle, quadrilateral, circle etc.) have only areas, but no
mass.
The centre of area of such figures is known as centroid. The method of finding out the
centroid of a figure is the same as that of finding out the centre of gravity of a body.
CENTER OF MASS
The point of an object at which all the mass of the object is thought to be
concentrated.
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Centre of Gravity
METHODS FOR CENTRE OF GRAVITY
The centre of gravity (or centroid) may be found out by any one of the following
methods:
1. By geometrical considerations
2. By moments
3. By graphical method
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CENTRE OF GRAVITY
OF A BODY
Let Wi be the weight of an element in the given body.
W be the total weight of the body.
Let the coordinates of the element be xi, yi, zi and that of centroid G be xc, yc, zc.
Since W is the resultant of Wi forces, Then
W = W1 + W2 + W3 + . . .
=∑Wi
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CENTRE OF GRAVITY
OF A BODY
Taking moments about point O We can replace W by
Wx W1 x1 W2 x2 ... Volume V At
W=
x
Wx i i specific Gravity
W
Wx Ax
i y
Wy i i
Ay i i
x i i
i
W A
W A
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CENTROID OF AN ARC
OF A CIRCLE
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CENTROID OF A SEMICIRCLE
& QUARTER CIRCLE
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MOMENT OF INERTIA
MOMENT OF INERTIA
Moment of inertia gives a quantitative estimate of the relative distribution of area and
mass of a body with respect to some reference axis is termed as moment of inertia of a
body.
MOMENT OF INERTIA OF A PLANE AREA
Consider a plane area, whose moment of inertia is required to be found out. Split up
the whole area into a number of small elements.
Let a1, a2, a3, ... = Areas of small elements, and
r1, r2, r3, ... = Corresponding distances of the elements from the line about which the
moment of inertia is required to be found out.
Now the moment of inertia of the area is
I = a1 r12 + a2 r22 + a3 r32 + … = Σ a r2
UNITS OF MOMENT OF INERTIA
As a matter of fact the units of moment of inertia of a plane area depend upon the
units of the area and the length. e.g.,
1. If area is in m2 and the length is also in m, the moment of inertia is expressed in m4.
2. If area in mm2 and the length is also in mm, then moment of inertia is expressed in
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mm4.
MOMENT OF INERTIA
The moment of inertia of an area may also be found out by the method of integration
as discussed below:
Consider a plane figure, whose moment of inertia is required to be found out about X-
X axis and Y-Y axis as shown in figure.
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MOMENT OF INERTIA
Let us divide the whole area into a no. of strips. Consider one of these strips.
Let dA = Area of the strip
x = Distance of the centre of gravity of the strip on X-X axis and
y = Distance of the centre of gravity of the strip on Y-Y axis.
We know that the moment of inertia of the strip about Y-Y axis
= dA .
Now the moment of inertia of the whole area may be found out by integrating above
equation. i.e.,
IYY = Σ dA . x2.
Similarly IXX = Σ dA . y2.
In the following pages, we shall discuss the applications of this method for finding out
the moment of inertia of various cross-sections.
I x y 2 dA , I y x 2 dA
A A
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MOMENT OF INERTIA OF A
RECTANGULAR SECTION
Consider a rectangular section ABCD as shown in figure whose moment of inertia is
required to be found out.
Let b = Width of the section and
d = Depth of the section.
Now consider a strip PQ of thickness dy parallel to X-X axis and at a distance y from
it as shown in the figure
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MOMENT OF INERTIA OF A
RECTANGULAR SECTION
Area of the strip = b.dy
We know that moment of inertia of the strip about X-X axis,
= Area × y2 = (b. dy) y2 = b. y2. dy
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POLAR MOMENT OF INERTIA
Moment of inertia about an axis perpendicular to the plane of an area is known as
polar moment of inertia. It may be denoted as J or Izz.
Thus, the moment of inertia about an axis perpendicular to the plane of the area at O
is called polar moment of inertia at point O, and is given by
Izz = ∑r2 Da
J or J r dA ( x y ) dA I I
o z
A
2
A
2 2
x y
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RADIUS OF GYRATION
Radius of gyration of a body about an axis of rotation is defined as the radial distance
of a point from the axis of rotation at which, if whole mass of the body is assumed to
be concentrated, its moment of inertia about the given axis would be the same as with
its actual distribution of mass.
I
I mk 2
or k
m
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PARALLEL AXIS THEOREM
The moment of inertia about any axis parallel to and at distance d away from the axis
that passes through the centre of mass is:
Where
IG= moment of inertia for mass centre G
m = mass of the body
d = perpendicular distance between the parallel axes
I O I G md 2
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PARALLEL AXIS THEOREM
If we know Moment of Inertia of a given axis, we can compute M.I about another
parallel axis.
I x ( y d y ) 2 dA y2 dA 2d y y dA d y dA
2
A A
A
A
1 2 3
1. Moment of inertia with respect to x axis (centroidal axis) I x
2. is zero, since y 0 ydA y dA
2
3. Ad y
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PERPENDICULAR AXIS
THEOREM
The moment of inertia of an area about an axis pependicular to its plane (polar
moment of inertia) at any point O is equal to the sum of moments of inertia about any
two mutually perpendicular axis through the same point O and lying in the plane of
the area.
Referring to Figure, if z-z is the axis normal to the plane of paper passing through
point O, as per this theorem,
Izz = Ixx + Iyy
The above theorem can be easily proved. Let us consider an elemental area dA at a
distance r from O. Let the coordinates of dA be x and y.
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PERPENDICULAR AXIS
THEOREM
Then from definition:
Izz = ∑r2 dA
= ∑ (x2 + y2)dA
= ∑ x2dA + ∑ y2 dA
Izz = Ixx + Iyy
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MOMENT OF INERTIA OF
COMPOSITE BODIES
•Divide the composite area into simple body.
•Compute the moment of inertia of each simple body about its centroidal axis from
table.
•Transfer each centroidal moment of inertia to a parallel reference axis
•The sum of the moments of inertia for each simple body about the parallel reference
axis is the moment of inertia of the composite body.
•Any cutout area has must be assigned a negative moment; all others are considered
positive.
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MOMENT OF INERTIA OF
STANDARD SHAPES
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MOMENT OF INERTIA OF
STANDARD SHAPES
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Example 1
Determine the moment of inertia about x and y axis of the rectangular lamina.
h/2 h/2
I x y dA
2
y (b dy) b
2
y2 dy
h / 2 h / 2
A
1 3
bh
12
Part (b)
1 3
I y hb
12
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Example 2
Determine the moment of inertia of the shaded area about the x axis.
A differential element of area that is parallel to the x axis is chose for integration.
dA =(100-x) dy.
Limits of integration wrt y, y=0 to y=200 mm
I x y 2 dA y 2 (100 x) dy
A A
200 y2 200 1 200 4
y (100
2
) dy 100 y dy
2
y dy
0 400 0 400 0
107(106 ) mm 4
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Example 3
Determine the moment of inertia of the shaded area.
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Example 3
Determine the moment of inertia of the shaded area.
Solution :
1. I
x
Rectangle A
1
I I Ad 2 y (100)(300)3 (100)(300)(200) 2
x1 x 12
1.425 109 mm 4
Rectangle B
1
I (600)(100)3 0.05 109 mm 4
x 2 12
Rectangle D
1
I I Ad 2 y
(100)(300)3 (100)(300)(200) 2 1.425 109 mm 4
x3 x 12
Total I I I I 1.425 109 0.05 109 1.425 109 2.9 109 mm 4
x x1 x 2 x3
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Example 3
2. I
y
Rectangle A
1
I I Ad 2 x (300)(100)3 (100)(300)(250) 2
y1 y 12
1.90 109 mm 4
Rectangle B
1
I (100)(600)3 1.80 109 mm 4
y 2 12
Rectangle D
1
I I Ad 2 x (300)(100)3 (100)(300)(250) 2 1.90 109 mm 4
y3 y 12
Total I I I I 1.90 109 1.80 109 1.90 109 5.6 109 mm 4
y y1 y 2 y3
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Example 4
Determine the location of the centroid of the quarter elliptical
plate. (x, y)
Area of the differential element
b 2
dA y dx b 2 x 2 dx
a2
y 1 2 b2 2
and x x, y b x .
2 2 a 2
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Example 4
b 2
2
ax b x 2 dx
0 2
A x
dA a 4
x a
A dA 2 3
a 2 b 2
0 b 2 x dx
a
2 2
1 b b
a
0 b2 x 2 b2 x 2 dx
y dA 2 a 2 a 2
4 a
y A
A dA 2 3
a b2 b 2 dx
0 x
a2
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