Force Analysis

Principles of Dynamics:
Newton'ss Laws of motion
Newton motion. :

1. A body will remain in a state of rest, or of uniform motion in a straight line unless it
is acted by external forces to change its state.

2. The rate of change of momentum of a body acted upon by an external Force (or
fforces)) is proportional
p p to the resultant external force
f F and in the direction off that
force:
G d (mvG )
F=
d
dt
Where m is the mass and v is the velocity of the body. For constant mass; m:
F=ma
Where a is the acceleration of the body.
3. To every action of a force there is an equal and opposite reaction.

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 Force is a vectorial quantity

For several concurrent forces

G G
F = ∑ Fi
i

Fx = ∑ Fixi Fy = ∑ Fiyi Fz = ∑ Fizi

Paralelogram law of addition i i i

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 couple
p

a) The moment vector does not have a point of application. Hence, it is a free
vector.
vector
b) The relative position vector, r, is in between any two points on the lines of action
of the forces forming the couple.
c) The force couple that creates a moment M is not unique, e.g. there are other
force couples that may create the same moment
moment.

Moment of a force

M=rxF

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 Resultant of nonconcurrent forces G
G G G G
F = ∑ Fi M = ∑ ( ri xFi )
i
i

or

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 Forces in Machine Systems
Reaction Forces: are commonly called the joint forces in machine systems
since the action and reaction between the bodies involved will be through the
contacting kinematic elements of the links that form a joint. The joint forces
are
a eaalong
o g tthe
eddirection
ect o for
o whichc tthe
e deg
degree-of-freedom
ee o eedo is s restricted.
est cted

Fij= - Fjj

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 REACTION FORCES AT KINEMATIC PAIRS (JOINT FORCES)

AL
ANSLATIONA
TATIONAL
GREE OF
EEDOM

EEDOM

EEDOM
NAME JO N
JOINT JOINT
DEG

ROT

TRA
FRE

FRE

FRE
SHAPE FORCE
y
Sphere between
5 3 2 pparallel pplanes
x
F
x
z
y F
y
Sphere in a cylinder
3 1 x F
x
z
4 y My

Cylinder between
2 2 parallel planes x
F
x
z

y F
y

3 0 Spherical pair
x F F
(Ball joint) z z x

y F
y
Slotted sphere
3 2 1 in a cylinder x M
z F
z x

y My

1 2 Pl
Plane joint
j i t
x
M
z F
x
z
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 REACTION FORCES AT KINEMATIC PAIRS (JOINT FORCES)

TRANSLATIONAL
ROTATIONAL
L
OF
FREEDOM

FREEDOM

REEDOM
DEGREE
NAME JOINT JOINT

FR
D
SHAPE FORCE

R
F y Fy
My

2 0 Slotted sphere
x F F
z z x

y F
y
Mx
2 0 Torus
z x
F
z
Fx

2 y
Fy
My

1 1 Cylindrical joint
x F
z x
Mx
Fy
y My

1 1 Slotted cylinder z x Fz
Mx
Fx

Fy
y My
Revolute pair
1 0 (turning joint)
z x
Fz
Fx
Mx

1 Prismatic pair
y
Fy
My

0 1 (sliding joint) z
x
Mz
Fx
Mx

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 Forces in Machine Systems
a) Joint Forces
b) Physical Forces
c)) Friction or Resisting
g Force:

d) Inertial Forces.

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 Free Body Diagram
Free-Body

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 G G
Static Equilibrium ∑F = 0 ∑M = 0
In space, these two vector equations yield six scalar equations:

∑F x =0 ∑F y =0 ∑Fz =0

∑M x =0 ∑M y =0 ∑M z =0

In case of coplanar force systems, there are three scalar equations:

∑F x =0 ∑F y =0 ∑M z =0

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 Two Force Member

In a Two-Force member, the forces must be equal and opposite and

must have the same line of action

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 Two force and one moment
member:

Two forces form a couple whose moment is equal in magnitude but in

opposite sense to the applied moment

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 Three Force Member

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 STATIC FORCE ANALYSIS OF MACHINERY
Systems without Resisting Force

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Link 2 For link 4:
F32y + Gl2y = 0 (∑Fy= 0) F34x + Gl4x - Fl4 cosη = 0 (∑Fx= 0)
F32x + Gl2x = 0 (∑Fx= 0) F34y + Gl4y - Fl4 sinη = 0 (∑Fy= 0)
F32y a2 cosθl2 - F32x a2 sinθl2+ T12= 0 (∑MAo = 0)
F a sinθ + F a cosθ + F r (cosηsinθ -sinηcosθ )=0 (∑M =0)
34x 4 14 34y 4 14 14 4 14 14 Bo
For link 3:
Due to Third Law:
F23x + F43x = 0 (∑Fx= 0)
F23y + F43y =0
0 (∑Fy= 0) F32yy = - F23yy
F43x a3sinθl3+ F43y a3 cosθl3= 0 (∑MA = 0) F32x = - F23x
F43y = - F34y
F43x =-F
34x
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 F23=F ∠ θ13
- F14 cosη + F34 cosθ13 + G14 cosφ = 0 or -F14cosη + F34cosθ13 + G14x = 0
F = -F =-F = -G = -F
43 32 34 12 23 - F14 sinη + F34 sinθ13 + G14 sinφ = 0 or - F14 sinη + F34 sinθ13 + G14y =0
r4F14(cosη sinθ14 - sinη cosθ14)+a4F34(sinθ13 cosθ14 - cosθ13 sinθ14)=0
) 0
And
a2F32(cosθ13sinθ12 -sinθ13 cosθ12) + T12 = 0
(F32 = - F34)
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 In general:

a) For two-force
two force members you don't have to write the equilibrium equations.
equations You
can simply state that the forces are equal and opposite and their line of action
coincides with the line joining the points of applications.
b) For two-force plus a moment members you must write the moment equilibrium
equation only. The two forces are equal and opposite and they form a couple equal
and opposite to the moment applied.
c) In case of three or four force members, the three equilibrium equations ( ΣFx = 0,
ΣFy = 0, Σ M = 0) must be written.
F = Fv r = ru

M = rxF = ruxFv = rF(uxv)

u = 1 ∠ α = cos α i + sin α j
v = 1 ∠ β = cos β i + sin β j
u x v = (sin β cos α - cos β sin α) k
Or: u x v = sin (β - α) k

M = rxF = r F sin (β - α) k 17
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 a4u4 x F34u3 + r4u4 x (-F14)v
( F14) 1 (ΣMBo = 0 )
a2u2 x (-F32)u3 + T12 k = 0 (ΣMAo = 0 )
Which result in:
a4 F34 sin(θ13-θ14) - r4F14 sin( η−θ14) = 0
θ12) + T12 =0
-aa2 F32 sin(θ13-θ
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 Graphical Solution

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 Graphical Solution

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 Modes of Contact in Prismatic
Joints

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 Principle of Superposition

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 Systems with Resisting Force
1. Static Frictional Force :

R32= - μF32

μ, is known as the coefficient of static friction.

g Frictional Force
2. Sliding

R32= - μF32,

μ is the coefficient of sliding friction,

friction which is less than the coefficient of static friction.
friction Sliding
friction is also known as Coulomb friction.

– Experiments have shown that the static or sliding friction force does not depend on the area of contact.
It depends on the types of materials in contact, on the surface quality in contact and the type of film
f
formedd between
b t th contacting
the t ti surfaces.
f Th coefficient
The ffi i t off static
t ti friction
f i ti is
i slightly
li htl larger
l th the
then th
coefficient of sliding friction.

3. Viscous Damping Force

R32 = -cv
cv2/3

Where c is the coefficient of viscous friction and v3/2 is the relative velocity. Viscous friction assumes that
there is a fluid film between the two surfaces in contact.

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 friction angle : friction circle.

G G G
F23R = R 23 + F23

rf = r sin φ ≅ r tan φ = μr

tan φ = μ = R 32
F32
M 32 = rf F32R F i ti T
Friction Torque
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 θ12=550

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-F34cos(φ)-μG14-F14=0 ( ∑Fx=0)

-F
F34sin(φ)+G14 = 0 ( ∑Fy=0)

μr34F34-M14-μG14a=0 ( ∑MB=0)

-F34cos(φ)-0.1G14=100 (i)
-F34sin(φ)+G14 = 0 (ii)
5F34-M14-5G14 =0 (M in Nmm) (iii)
Unknowns are F34, φ , G14 and M14.

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 F43= -F34 = -F23
(∑MA=0):
-⎜AB⎜F43sin(φ−θ13)-μr23F23-μr34F43=0
or:
-800F43sin(φ−θ13) - 25F23 -5 F43 =0
since F43 = F23 (in magnitude):
-800F43sin(φ−θ13) -30 F43 =0
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F32= -F
F23 = -F
F34 =F
F43
G12 = - F32
(∑MAo=0):
⎜A0A⎜F23sin(φ−θ12)+μr23F23+ μr12G12+T12 = 0

which can be simplified as (noting F43 = F23)

200 F43sin(φ−θ12)+30 F43 +T12= 0 (v)

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 When there are several forces acting on different links:
1. Principle of superposition cannot be used.
2 S
2. Some off the
th equations
ti are nott linear
li ffor the
th unknowns.
k
Therefore, numerical iterative solutions are required.

In mechanical systems, if the designer has taken some good design

measures, friction can usually be neglected in revolute joints with size
small compare to link length dimensions (this usually simplifies the
solution)

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 DYNAMIC FORCE ANALYSIS
Center of Mass
Mass, G,
G is commonly known as the center of gravity
gravity,
G
G ∑ ri m i xG = Σ ximi /m
rG = i

m yG = Σ yimi /m

Moment of inertia
I 0 = ∑ ( x i2 + y i2 ) m i = ∑ ri2 m i k 02 =
I0
i i m
I G = ∑ (u i2 + v i2 )m i
i

[
I 0 = ∑ ( xi2 + y i2 ) mi = ∑ ( xG + u i ) + ( y G + vi ) mi
2 2
]
i i

I 0 = ∑ (u i2 + vi2 )mi + ( xG2 + y G2 )∑ mi + 2 xG ∑ u i mi + 2 y G ∑ v i mi

i i i i

I 0 = I G + mrG2 = m ( k G2 + rG2 )

Parallel Axis Theorem 33

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 N t ' Second
Newton's S d Law
L off Motion
M ti for
f a Rigid
Ri id Body
B d
G G G
G d 2 (m i ri )
Fi + ∑ Fji = m i a i =
j dt 2

Fji is commonly known as the internal force.

For all particles: G

d 2 (∑ m i ri )
G G G
∑ Fi + ∑
i i
∑ ji ∑ i i =
j
F = m
i
a i

dt 2
G G
∑ i ∑
i
F = F sum of all external forces acting.

G G G
∑ ∑ Fji = 0 ∑ m r = mr
i
i i G
i j

Newton's Second Law of motion for Linear momentum

G d 2 (mGrG ) d (mvG G ) G
∑ F =
dt 2
=
dt
= ma G

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 Moment equilibrium G G GG G G
ri xFi + ∑ ri Fji = ri xa i m i
j
ai = a0 + ai/0 = a0 + ai/0 n+ ai/0t

ai/0 t= α x r ai/0 n= -ω2ri

G G GG
∑ ri xFi + ∑
G G G G
[ ( G G G
) ]
∑ ri Fji = ∑ ri xa i m i = ∑ ri x a 0 + αx ri − ω 2 ri m i
i i j i i

G G G
∑ ri xFi = ∑ M 0
i
G G
∑∑ ri xFji = 0
∑[ ( ) ]
G G G G 2G G G i j
G G G G G
ri x a 0 + αx ri − ω ri m i = ∑ m i ri xa 0 + ∑ m i ri xαx ri − ω2 ∑ ri x ri m i
i i i i
G G G G
∑i m i ri xa 0 = mr G xa 0
G G G G G
∑i m i ri xαx ri = α∑i ri2 m i = I 0 α
G G
G ω 2 ∑ ri x ri m i = 0
G G G
∑ 0
M = m rG x a 0 + I 0 α i

Newton's Second Law of Motion for Angular Momentum

G G
d I G θ d (I G ω)
2
G
∑ M G = dt 2 = dt = I G α 35
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 D'Alambert's
D Alambert s Principle
G G
∑ F − ma G = 0
G
∑ MG − IGα = 0
G
F i = − ma G A nonexistant (fictituous) force inertia force
Gi G
T = −I G α A nonexistant (fictituous) torque inertia torque

Considering Inertia force and torque as if an external force or torque

G
∑F = 0 ∑M G =0

D'Alambert's Principle
In a body moving with a known angular acceleration and a linear acceleration
of the center of gravity, the vector sum of all the external forces and inertia forces
and the vector sum of all the external moments and inertia torque are both
separately equal to zero. 36
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 Example
x + a 3 e iθ = iy
x x
cos θ = − ω13 =
a3 a 3 sin θ
y = a 3 sin θ y = a 3 ω13 cos θ

− ω13 x cos θ
α13 =
a 3 sin 2 θ
y = −a 3 ω13
2
sin θ + a 3 α 13 cos θ

G 1 K
rG 3 = x + a 3 e iθ F = − ma G 3
i
3
2
G 1 TGi 3 = − I G 3 α13 =
v G 3 = x + ia 3 ω13 e iθ
2
K 1
a G 3 = x + a 3 e iiθθ (iα 13 − ω13
2
)
2
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 For Link 3
F43 - F23x = 0
R3i - F23y = 0

500F43sin(180-113.578) + 250(25.97)sin(90-113.578)-865 = 0

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