ENGINEERING MECHANICS 1

Rectangular Components of Force

Q P
φ
β
T

Force x – component y – component If the resultant is a force, R:

P Px = P cos β Py = P sin β Rx = ΣFx

Q Qx = -Q sin φ Qy = Q cos φ Ry = ΣFy

T Tx = -T Ty = 0 ΣMo = 0

S Sx = 0 Sy = -S If the resultant is a couple, CR:

ΣFx = 0

Resultant of a Force System ΣFy = 0

ΣMo = CR
Q P Ry R
φ Equilibrium of Rigid Bodies
β β
T
= A body is in equilibrium if the resultant of the
Rx
force system that acts on the body vanishes.
Equilibrium means that both the resultant force
S
and the resultant couple are zero.

Resultant:
O
R= (R x )2 + (R y )2

Horizontal component of resultant:

Rx = ΣFx
Vertical component of resultant: Equation of Equilibrium in Two-Dimension:
Ry = ΣFy
Angle that the resultant makes with horizontal:
ΣFx = 0
Ry = R sin β
ΣFy = 0
Rx = R cos β
ΣMo = 0
 ENGINEERING MECHANICS 2
y

F
b
y
F φ
N R

a x Impending Motion
z ( to the right )

x
R = resultant of friction and normal forces
z
= F2 + N2

Equation of Equilibrium in Three-Dimension: tan φ = µ

ΣFx = 0 ΣMx = 0 φ = angle of internal friction
ΣFy = 0 ΣMy = 0
ΣFz = 0 ΣMz = 0 W
P

To get components of force in three dimension:

F
F F Fy F
= x = = z
d x y z
N
d = distance from a to b
Impending Motion
= (x b -x a )2 + (y b -y a )2 + (z b -z a )2 ( to the right )
x = xb – xa
y = yb – ya Forces acting on a body at rest :

z = zb – za 1. Applied force : P
2. Weight : W = mg
Friction
3. Normal force : N

Friction – is the contact resistance exerted by 4. Friction : F = µ N

one body upon a second body when the second µ = coefficient of friction

body moves or tends to move past the first body.

Static Friction – the two contact surfaces has no relative Note: The direction of friction always opposes impending
motion between each other. sliding. The surfaces are on the verge of sliding is a
Kinetic Friction – the two contact surfaces are sliding condition known as impending sliding.
relative to each other.
 ENGINEERING MECHANICS 3
Reversed Effective Force Freely Falling Bodies (air resistance neglected)
W
P
REF
F Note : At the highest
point the velocity is
N zero.
In Motion
( to the right )

Forces acting on a body in motion:

motion
1. Applied force : P
2. Weight : W = mg
Equation of motion:
3. Normal force : N
4. Friction : F = µ N V2 − V1 = ± gt

5. Reversed Effective Force: REF = ma V22 − V12 = ± 2gy

m = mass of body y = V1t ± 21 gt 2
a = acceleration of the body V2 = final velocity
V1 = initial velocity

Rectilinear Translation g = acceleration due to gravity = 9.81 m/s2

y = vertical distance traveled
Rectilinear Motion with Constant Acceleration

motion Rectilinear Translation using Motion Diagram

a
V1 V2

x
2 t
Equation of motion: 0 1

V2 − V1 = ± at

V22 − V12 = ± 2ax Acceleration – Time Diag

x = V1t ± 21 at 2 To get the velocity using acceleration – time diag:

V2 = final velocity • velocity at t = 0 is the initial velocity
V1 = initial velocity • velocity at t = 1 is the initial velocity plus the
a = constant acceleration
area of a – t diag from 0 to 1
x = linear distance traveled
 ENGINEERING MECHANICS 4
v ω2 = final angular velocity
V1 ω1 = initial angular velocity
V2
α = angular acceleration
V0
θ = angular distance
t
0 1 2
Curvilinear Translation
Velocity – Time Diag

To get the distance using velocity – time diag:

Rectangular Coordinates of Acceleration
• distance at t = 1 is the area of v – t diag from
and Velocity:
0 to 1
• distance at t = 2 is the area of v – t diag from v
0 to 2
S2 at
s
S1 a

an
t
0 1 2

Distance – Time Diag

Rotation with Constant Angular

Acceleration
Tangential acceleration : at = rα
Normal acceleration : an = rω2
ω1 v2
=
ω2 r
θ Resultant acceleration : a = ( a t ) 2 + ( a n ) 2

Tangential velocity : v = rω
Normal velocity is zero.
Equation of motion:
ω2 – ω1 = ± αt r = radius of the curve
ω22 – ω12 = ±2αθ α = angular acceleration
1
θ = ω1t ± αt2 ω = angular velocity
2
 ENGINEERING MECHANICS 5
Polar Coordinates of Acceleration Projectile Motion (air resistance neglected)
and Velocity:
y
aθ
Vy2 = 0
ar
Vx

r Vy1 Vo h Vx
θ Vy3
θ x
origin
Vx
y
x = Vx t
r – component of acceleration: a r = &r& − r θ& 2
R
θ – component of acceleration: aθ = r θ&& + 2 r& θ&
Resultant acceleration : a = ( aθ ) 2 + ( a r ) 2
Horizontal distance from origin at any time:
vθ
x = Vx t
vr
= (Vocos θ) t

Vertical distance from origin at any time:

r g x2
y = x tan θ -
2 Vo 2 cos 2 θ
θ
V02 sin 2 θ
Max range of projectile, R =
g
V sin 2 θ
2
r – component of velocity: v r = r& Max height of projectile, h = 0
2g
θ – component of velocity: vθ = r θ&
where :
2 2
Resultant velocity: v = (vθ ) + (v r )
V0 = initial velocity of projectile
θ = the angle that V0 makes with horizontal
dr
where : r& =
dt
d 2r
&r& = 2
dt
dθ
θ& =
dt
d 2θ
θ&& = 2
dt
 ENGINEERING MECHANICS 6
Work and Energy Impulse and Momentum

W = mg
P V1 V2
P
F
x V1
1 x
N
F
V2 h N Impulse – Momentum Equation:
2
F (∆t)
ΣF t) = m(∆V)
m( V)

ΣF = external forces on the body

Work – Energy Equation: t = time interval from V1 to V2
m = mass of the body
U1-2 = ∆T
T + ∆V
Vg + ∆V
Ve
W
=
g
U = work done due to external forces
∆V = change in velocity
= Force x Distance
= V2 – V1

∆T = change in kinetic energy

= T2 – T1 Note : External forces on the body are applied and
friction forces.
= ½m(V22 – V12)
T2 = final kinetic energy = ½mV22
T1 = initial kinetic energy = ½mV12

∆Vg = gravitational potential energy

= ± mgh (positve if vertically upward)

∆Ve = elastic potential energy (due to spring)

= ½k(δ22 - δ12)
k = spring constant
δ2 = final deformation of spring Prepared by:

δ1 = initial deformation of spring Engr. Ric O. Palma

Besavilla Engg Review Center