Chapter 1

Introduction—Forces
and Equilibrium

CHAPTER HIGHLIGHTS

☞ Introduction ☞ Coplanar concurrent force system

☞ Newtonian mechanics ☞ Coplanar non-concurrent, non-parallel force
☞ Deformation of body system
☞ Force ☞ Moment of a force
☞ Resolution of a force into a force and a couple ☞ Moment of a couple
☞ Resultant of a system of coplanar forces ☞ Equilibrium equations for different coplanar
☞ Resultant of multiple forces acting at a point force systems

☞ Triangle law of forces ☞ Analysis of a system of forces in space

Introduction 3. Kinematics: Kinematics deals with space, time

relationship of a given motion of body and not at all
In physics, the branch which deals with the study of state of
with the forces that cause the motion.
rest or motion caused by the action of forces on the bodies
is called ‘mechanics’. 4. Kinetics: The study of the laws of motion of material
Engineering mechanics applies the principles and laws bodies under the action of forces or kinetics is the
of mechanics to solve the problems of common engineering study of the relationship between the forces and the
elements. resulting motion.
Some of the definitions of the idealizations used in engi-
neering mechanics are as follows:
Newtonian MecHanics
Newtonian mechanics or classical mechanics deals with the 1. Continuum: It is defined as continuous nonspacial
study of the motion of macroscopic objects under the action whole which has no empty spaces, and no part is
of a force or a system of forces. distinct from the adjacent parts. Considering objects,
in this way, ignores that the matter present in the
object is made of atoms and molecules.
Branches of Newtonian Mechanics
2. Particle: A particle is a body which has finite mass,
1. Statics: It is the study of forces and conditions of
but the dimensions can be neglected.
equilibrium of bodies at rest subjected to the action
of forces. 3. System of particles: When a group of particles
which are inter-related are dealt together for studying
2. Dynamics: It is the branch of mechanics which deals
the behaviour, it is called a system of particles.
with the study of motion of rigid bodies and the co-
relation with the forces causing and affecting their motion. 4. Rigid body: A solid body which does not undergo
Dynamics is divided into Kinematics and Kinetics. any deformations under the application of forces is

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 3.6  |  Part III  ■  Unit 1  ■  Engineering Mechanics

called a rigid body. In reality, solid bodies are not System of Forces
rigid, but are assumed as rigid bodies.
5. Matter: It is anything which occupies space.
Coplanar Non-coplanar
6. Mass: It is a measure of inertia. The mass of a body is (Space forces)
the quantity of matter contained in it, and is the sum
of the masses of its constituent mass points. Collinear Concurrenet
Concurrent

Non-concurrenet Non-concurrenet
Deformation of Body
A body which changes its shape or size under the action of Parallel Parallel General
external forces is called deformable body. Non-parallel
general
Action and Reaction Like Unlike
parallel parallel
Action and reaction occurs when one body exerts a force on Like Unlike
parallel parallel
another body, the later also exerts a force on the former. These
forces are equal in magnitude and opposite in direction. 2.
Coplanar and non-coplanar (spatial) force
systems: In a coplanar force system (Figure (a)), the
Tension constituting forces have their lines of action lying
in the same plane. If all the lines of action do not
It is the pulling force which is acting through a string when
lie in the same plane, then the corresponding forces
it is tight. It acts in the outward direction.
constitute a non-coplanar force system (Figure (b)).
Y Y
Tension

F3 F4
Thrust F 1F2 F 1 F2 F3 F4
It is acting in the inward direction and it is the pushing force
X X
transferred through a light rod.

Z Z
Thrust
(a) (b)
3. Collinear force system: In a collinear force system
Force (figure), the lines of action of the entire constituting
Force may be defined as any action that tends to change forces will be along the same line.
the state of rest or uniform motion of a body on which it is Y
applied. The specifications or characteristics of a force are:
1. Magnitude
2. Point of application
3. Direction (force is a vector quantity) X
4. Line of action F
Z
Force is a vector quantity since it has a magnitude and a
direction (scalar quantities have only magnitudes and no 4. Concurrent and non-concurrent force systems: If
directions). the lines of action of all the forces in a force system
The direction of a force is the direction, along a straight pass through a single point, then the force system is
line passing through its point of application, in which the called a concurrent force system (Figure (a)), else it is
force tends to move the body on which it is applied. The called as a non-concurrent force system (Figure (b)).
straight line is called the line of action of the force. For Y Y
F1 F2
the force of gravity, the direction of the force is vertically F4
downward.
F1
1. System of forces: A system of forces or a force system F2 F3 F4
F3 X
is the set of forces acting on the body or a group of X
bodies of interest. Force system can be classified
according to the orientation of the lines of action of Z
Z
the constituting forces. It is shown as follows: (a) (b)

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 Chapter 1  ■  Introduction—Forces and Equilibrium  |  3.7

5. Parallel and non-parallel (general) force systems: In NOTE

a parallel force system (Figure (a)), the lines of action of
According to the magnitude of the constituting forces,
the entire constituting forces are parallel to each other.
force systems can also be classified as: (a) System of
If the line of action of at least one constituting force is
equal forces—all the constituting forces has the same
not parallel to the line of action of another constituting
magnitude; and (b) System of unequal forces—all the
force in a force system, then the force system is called
constituting forces do not have the same magnitude.
‘non-parallel force system’ (Figure (b)).
Y Y 7. Representation of a force: Graphically, a force
F1 F1
F2 F2 may be represented by the segment of a straight line
F3 F3 with arrowhead at one end of the line segment. The
F4
F4 straight line represents the line of action of the force,
and its length represents its magnitude. The direction
X X
of force is indicated by placing an arrowhead on this
straight line. The arrowhead at one end of the straight
Z Z line segment indicate the direction of the force along
(a) (b) the line segment. Either the head or the tail may be
used to indicate the point of application of the force.
6. Like parallel and unlike parallel force systems: In Note that all the forces involved must be represented
a like parallel force system (Figure (a)), the lines of consistently as shown in figures below.
action of the entire constituting forces are parallel to
each other and act in the same direction. In an unlike
parallel force system (figure), the lines of action of
the entire constituting forces are parallel to each 30° 30°
other, where some of them act in different directions. 0
0
Y
F1
F2
F3 (a) (b)
F4

X Resolution of a Force into

a Force and a Couple
Z A given force ‘P’ applied to a body at any point ‘A’ can
always be replaced by an equal force applied at another point
System of Forces ‘B’ together with a couple which will be statically equiva-
Force System Examples
lent to the original force. To prove this, let the given force
‘P’ act at ‘A’ as shown below. Then at B, we introduce two
1. Collinear Forces on a rope in a tug oppositely directed collinear forces each of magnitude ‘P’
of war.
and parallel to the line of action of the given force ‘P’ at A.
2. Coplanar parallel System of forces acting on
a beam subjected to vertical P
P
loads including reactions.
A A
3. Coplanar like Weight of a stationary train on P
P a
parallel the rail when track straight.
4. Coplanar Forces of a rod resting against B
concurrent a wall. P
5. Coplanar, Forces on a ladder resting
non-concurrent against a wall when a person (a) (b) (c)
forces stands on a rung which is not
at its centre of gravity. It follows from the law of superposition that the system
6. Non-coplanar The weight of the benches
in Figure (b) is statically equivalent to that in Figure (a).
parallel in a classroom. However, we may now regard the original force ‘P’ at ‘A’,
7. Non-coplanar Forces on a tripod carrying a and the oppositely directed force ‘P’ at B as a couple of
concurrent camera moment M = Pa. Since this couple may now be transformed
forces in any manner in its plane of action as long as its moment
8. Non-coplanar Forces acting on a moving remains unchanged, we may finally represent the system as
non-concurrent bus. shown in Figure (c), where the couple is simply indicated by
forces a curved arrow and the magnitude of its moment. It will be

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 3.8  |  Part III  ■  Unit 1  ■  Engineering Mechanics

noted that the moment of the couple introduced in the above Triangle Law of Forces
manner will always be equal to the product of the original The resultant of two forces can be obtained by the triangle
force ‘P’ and the arbitrary distance ‘a’ that we decide to law of forces. The law states that if two forces acting at a
move its line of action. This resolution of a force into a force point are represented by the two sides of a triangle, taken
and a couple is very useful in many problems of statics. in order, the remaining side taken in an opposite order will
give the resultant.
Resultant of a System γ
P
180 − γ
of Coplanar Forces Q

180 − α γ
Parallelogram Law of Forces α 180 − β
P β

When two concurrent forces ‘P’ and ‘Q’ are represented in R β α

magnitude and direction by the two adjacent sides of a par-   Q R
allelogram as shown in the following figure, the diagonal of
the parallelogram concurrent with the two forces, ‘P’ and
Q P R
‘Q’ represents the resultant R of the forces in magnitude = =
and direction. sin α sin γ sin β
If P and Q are two forces making an angle θ with each
other, then Coplanar Force System
It can be classified into collinear, concurrent, parallel, non-
R = P 2 + Q 2 + 2QP cos θ
concurrent, and non-parallel type of force system.
θ −α The resultant of a general coplanar system of forces may
Q R be: (a) single force, (b) a couple in the system’s plane or in
Q
θ a parallel plane, or (c) zero.
α P θ
(180 − θ ) Collinear Forces
 Q sin θ  The resultant of a collinear force system (R) can be deter-
tan α =   mined by algebraically adding the forces.
 P + Q cos θ 
R = ΣF = F1 + F2 + F3
 Q sin θ 
α = tan −1   A F1 B F2 C F3 D
 P + Q cos θ 
Q R P
= =
sin α sin θ sin(θ − α )
Coplanar Concurrent
Force System
Resultant of Multiple Forces Acting Y
at a Point P

Let SH = Algebraic sum of resolved part of the forces along Q

the X-axis.
SV = Algebraic sum of resolved part of the forces along θ1
the Y-axis θ2
X
θ3
R= ( ∑ H )2 + (∑ V )2
S

Y The analytical method consists of resolving the forces into

F1 Y components that coincide with the two arbitrarily chosen
axes.
∑ Fx = P cos θ1 + Q cos θ 2 + S cos θ3
X ΣV R
0
∑ Fy = P sin Q1 + Q sin θ 2 − S sin θ3
θ
F2 X
  0 ΣH
and the resultant R = ( ∑ Fx ) 2 + ( ∑ Fy ) 2 . Its angle with
∑V
tan θ = where θ is the angle which the resultant vector  ∑ Fy 
∑H respect to the X-axis is given by α = tan −1  
R makes with the X-axis.  ∑ Fx 

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 Chapter 1  ■  Introduction—Forces and Equilibrium  |  3.9

Coplanar Parallel Force System a, being the angle between the forces.
2 R = [(6 P ) 2 + ( 2 P ) 2 + 2 × 6 P × 2 P × cos α ]1/ 2
R
X = [40 + 24 cos α ]1/ 2  (2)
Xp From Eqs. (1) and (2), we have
2 P[13 + 12 cos α ]1/ 2 = P[40 + 24 cos α ]1/ 2
XQ
Xs or
2[13 + 12 cos α ] = [40 + 24 cos α ]
A O B C O 1
cos α = − , α = 120°.
Q 2
P S Example 2
Resultant of the parallel forces ‘P’, ‘Q’ and ‘S’ are R = SF A weight ‘w’ is supported by two cables. At what value of
=P+Q+S ‘q’, the tension in the cable is minimum?
SM0 = Rx
SM0 → sum of the moments of the forces ‘P’, ‘Q’ and
‘S’ about point 0.
Rx = Pxp + QxQ + Sxs θ 60°

Coplanar Non-concurrent, w

Non-parallel Force System Solution

T1
As in the case of an unlike parallel force system, the result-
T2
ant may be a single force, a couple in the plane of the system

(∑ fx )2 + (∑ f y )
2
or zero. The resultant is given by R = ,
θ 60°
∑ fy
and its angle a with the X-axis is given by tan α = .
∑ Fx w

Y
T1sin q + T2sin 60° = w
T1cos q = T2 cos 60°

o T1 cos θ
X T2 = = 2T1 cos θ
a b c d cos 60°
P Q S = T1sin q + 2T1 cos q ⋅ sin 60° = w

Distributed force system: Distributed forces (or loads) are = T1sin q + 2T1cos q . sin 60° = w
those force that act over a length, area, or volume of a body. T1sin q + 3 T1cos q = w
On the other hand, a concentrated force (point load) is a
force which acts on a point. dT1
= 0 = T1 cos θ + 3T1 ( − sin θ ) = 0
dθ

SOLVED EXAMPLES T1 cos θ = 3T1 sin θ

1
tan θ =
Example 1 3
The resultant of two concurrent forces ‘3P’ and ‘2P’ is R. θ = 30°.
If the first force is doubled, the resultant is also doubled.
Determine the angle between the forces. Example 3
An electric fixture weighing 18 N hangs from a point C by
Solution two strings AC and BC as shown in the following figure.
R = [(3P ) 2 + ( 2 P ) 2 + 2 × 3P × 2 P × cos α ]1/ 2 The string AC is inclined to the vertical wall at 40° and BC
is inclined to the horizontal ceiling at 50°. Determine the
= P × [13 + 12 cos α ]1/ 2
(1) forces in the strings.

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 3.10  |  Part III  ■  Unit 1  ■  Engineering Mechanics

D Direction for solved examples 5 and 6:

B
50° P Q
30° 60°
T1 T PR 60° 30° T QR
40 T2 30°
A T1 60°
40°
R
C
600 N   600 N
E 18 N

Solution Example 5
It can be deducted that ∠DCA = 40 and ∠BCD = 40°, so that The tension in the wire QR will be:
∠ACB = 80°. (A) 519.6 N (B) 625 N
(C) 630 N (D) 735 N
∠ACE = 180° - 40° = 140°
∠BCE = 180° - 40° = 140° Solution
TQR TPR 600
Using sine rule: = =
sin(180 − 60) sin(180 − 30) sin 90
T1 T2 18
= =
sin 40 sin 40 sin 80 TQR TPR 600
= =
18 × sin 40 sin 60 sin 30 sin 90
T1 = = 11.75 N
sin 80 The tension in the wire QR,
18 × sin 40
and, T2 = = 11.75 N. TQR = 300 3 = 519.6 N
sin 80
Hence, the correct answer is option (A).
Example 4
Determine the resultant of the coplanar concurrent force Example 6
system shown in the following figure. The tension in the wire ‘PR’ will be
B
100 N
(A) 575 N (B) 300 N
150 N (C) 275 N (D) 400 N

30° 20°
C X Solution
70° O 45°
The tension in the wire ‘PR’,
250 N TPR = 600 sin 30 = 300 N
200 N
Hence, the correct answer is option (B).
Solution
SFx = 100 cos  20 + 250 cos 45 - 200 cos 70 - 150 cos 30 Example 7
= 72.44 N A point is located at (-6, 2, 16) with respect to the origin (0,
SFy = 100 sin 20 - 250 sin 45 - 200 sin 70 + 150 sin 30 0, 0). Specify its position.
(i) In terms of the orthogonal components.
= -255 N
(ii) In terms of the direction cosines.
Resultant R = ( ∑ Fx ) 2 + ( ∑ Fy ) 2 (iii) In terms of its unit vector.

= 72.44 2 + 255.52 = 265 N Solution

A(−6, 2, 16)
−1
∑ Fy
Its inclination α = tan
∑ Fx

 255.5  O(0, 0, 0)
= tan −1  = 74°
 72.44  The components of the vector OA are:
Since Sy is negative, the angle falls in the fourth quadrant. (-6 - 0) = -6 along the X-axis
\ Angle made with X-axis is 360° - 74° = 286° (Counter- (2 - 0) = 2 along the Y-axis
clockwise). (16 - 0) = 16 along the Z-axis

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 Chapter 1  ■  Introduction—Forces and Equilibrium  |  3.11

Z Balancing of forces at point B gives TAB cos 45 = TBC

A
k  6 
TBC =   P = 0.633P.
16 i  6 + 2
X
−6 O
2 Example 9
j
Y A man sitting in a wheelchair tries to roll up a step of 8 cm.
The diameter of the wheel is 50 cm. The wheelchair together
Position vector, r = -6i + 2j + 16k with the man weighs 1500 N. What force he will have to
(In terms of the orthogonal components.) apply on the periphery of the wheel?

Magnitude,  r = ( −6) 2 + 22 + 16 2 = 17.2 F

T
Direction cosines are:

6 C 2r − h
l = cos θ x = − = −0.3488
17.2 r−h r
P
2 W b h h = 8 cms
m = cos θ y = = 0.1163
17.2
16
n = cos θ z = = 0.9302
17.2 Solution
r = (17.2l)i + (17.2m)j + (17.2n) (In terms of the direction The free-body diagram (given above) shows the horizontal
of cosines.) force applied by the man, the weight W acting at the centre
of the wheel and the reaction R at the point P. (The reaction
Example 8 at O will be zero at the instant the wheel being lifted up).
Consider a truss ABC with a force ‘P’ at A as shown in the From the geometry:
following figure.
b2 = r2 - (r - h)2 = 2rh - h2
P = 2 × 0.25 × 0.08 - (0.08)2
A
\ b = 0.1833 m
45° 30° C
Taking moments about the point P,
B
-F(2r - h) + wb = 0

The tension in member CB is: Wb

F=
(A) 0.5P (B) 0.63P 2r − h
(C) 0.073P (D) 0.87P
1500
Where W = Load on one wheel = .
2
Solution
F = Force applied on one wheel.
Consider point A. For equilibrium, resolving the forces:
P 1500
× 0.1833
137.475
A ∴F = 2 = = 327.32 N.
2 × 0.25 − 0.08 0.42
45° 60° P
T AB

45° 30°
C
Moment of a Force
B T BC The product of a force and the perpendicular distance of the
TAB cos 45° + TAC cos 60 - P = 0 line of action of the force from a point or axis are defined as
the moment of the force about that point or axis.
TAB sin 45 = TAC sin 60 solving.
P
O
2 3P
Hence, TAB = r
( 6 + 2)

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 3.12  |  Part III  ■  Unit 1  ■  Engineering Mechanics

In the figure, the moment of force P about the point O Algebraic sum of the moments,
or about the Y-axis is P × r. Moment may be either clock-     
wise or anti-clockwise. In the given figure, moment tends to M = OA × F1 − OB × F2
rotate the body in anti-clockwise direction. F1 = F2 = F
The right hand rule is a convenient tool to identify the  
direction of a moment. The moment M about an axis may = (OA − OB ) × F (1)
be represented as a vector pointing towards the direction of   
the thumb of the right hand, while the other fingers show the But OA + AB + BO = 0
direction of turn, the force offers about the axis (clockwise
  
or anti-clockwise). OA − OB = AB
  
Y ∴ Eq. (1), Becomes, M = AB × F .
M F

A
B

O F
Varignon’s Theorem of Moments
The resultant force is zero, but the displacement ‘d’ of the
X force the couple creates a couple moment. Moment about
some arbitrary point is 0.
Q A R
C M = F1d1 + F2d2 = F1d1 F1d2 = F1(d1 - d2). If point O is
placed in the line of action of force F2 (or F1), then M = F1d
(or F2d).
O P B Orthogonal components (scalar components) of force
‘F’ along the rectangular axis, x, y and z axis are Fx, Fy and
It can be proved that DOXA + DOXB = DOXC. This illus-
Fz, respectively.
trates Varignon’s theorem of moments.
Moment of the force Q about X = Twice the area of DOXA. Fx = |F| cos qx, Fy = |F| cos qy, Fz = |F| cos qz, where cos qx
Moment of force P about X = Twice the area of DOXB. R is (zl), cos qy(zm) and cos qz (zn) are the direction cosines of the
the resultant of P and Q. Moment of the resultant about X is force ‘F’ and |F| is the magnitude of the force ‘F’.
= Twice the area of the triangle OXC.
The theorem may be stated as follows: The moment of a F = ( Fx ) 2 + ( Fy ) 2 + ( Fz ) 2
force about any point is equal to the sum of the moments of F = Fx i + Fy j + Fz k = | F | (cos θ n i + cos θ y j + cos θ z k )
components about the same point.
 
= |F| (l i + m j + n k ), where i , j and k are vec-
Moment of a Couple tors of unit length along the positive x, y and z directions.
Two parallel forces having the same magnitude and acting Unit vector corresponding to the force vector F, F = F .
in the opposite directions form a couple. F

If n is a unit vector in the direction of the force ‘F’, then
Moment of the couple is the algebraic sum of the moment
of the forces involved in it about a point. F = |F | n
F1

A d Equilibrium of Force Systems

B
A body is said to be acted upon by a system of forces in
equilibrium if the force system cannot change the body’s
d1
stationary or constant velocity state. If the resultant is nei-
d2 F2
O
ther a force nor a couple. that is,

    SF = 0  (1)
Moment of the force ‘ F1 ’ about O = OA × F1 . SM = 0 (2)
  
Moment of the force ‘ F2 ’ about O = OB × ( − F2 ) SF → Vector sum of all forces of the system
  SM → Vector sum of the moments (relative to any point) of
= −OB × F2 . all the forces of the system.

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 Chapter 1  ■  Introduction—Forces and Equilibrium  |  3.13

Scalar equation equivalent to vector Eq. (1), in a rectan- SFx, SFy and SFz are algebraic sums of the components of
gular coordinate system, are all the forces in the x, y, and z directions and qx, qy, qz are
SFx = 0 the angles which the resultant vector R makes with the x, y,
SFy = 0 and z axes, respectively.
SFz = 0
Scalar equation equivalent to the vector Eq. (2), are
Parallel Spatial Force System
SMx = 0
SMy = 0 The resultant,
SMz = 0
R = ∑ F1 Rx = ∑ M x
SFx , SFy and SFz → Algebraic sum of forces in the x, y
and z directions, respectively. Rz = ∑ M z
SMx, SMy and SMz → Algebraic sum of moments in the
x, y and z directions, respectively. where x and z are the perpendicular distances of the result-
ant vector from the xy and yz plane, respectively. SMz, SMx
Equilibrium Equations are the algebraic sums of the moments of forces of the force
system about the x and z axes, respectively.
for Different Coplanar If SF = 0, the resultant couple can be evaluated as,
Force Systems
1. Concurrent coplanar force system: C = (∑ M x )2 + (∑ M z )2
SFx = 0, SFy = 0
∑ Mz
2. Concurrent non-coplanar force system: tan φ =
∑ Mx
SFx = 0, SFy = 0, SFz = 0
3. Non-concurrent coplanar force system: Where f is the angle made by the couple.
SFx = 0, SFy = 0 and SM = 0 at any suitable point.
4. Non-concurrent non-coplanar force system: Non-concurrent, Non-parallel
SFx = 0, SFy = 0, SFz = 0 and SMx = 0, SMy = 0, SMz = 0 Force System

Analysis of a System The resultant, R = (∑ Fx )2 + (∑ Fy ) + (∑ Fz )2

2
and cor-
of Forces in Space responding direction cosines are:
A spatial force system may consist of a set of concur-
rent forces, parallel forces or non-concurrent non-parallel ∑ Fx ∑ Fy
forces. The resultant of a spatial force system is a force ‘R’ cos θ x = , cos θ y =
R R
and a couple C, where:
R = ∑(forces) and C = ∑( moments) ∑ Fz
cos θ z =
R
Concurrent Spatial Force System
Resultant R is given by C = ( ∑ M x )2 + ( ∑ M y )2 + (∑ M z )2 and the corre-

sponding direction cosines are:

R= ( ∑ Fx ) 2 + ( ∑ Fy ) 2 + ( ∑ Fz ) 2
with the direction cosines given by Mx My
cos θ x = ∑ , cos θ y = ∑
C C
∑ Fx
cos θ x =
R ∑ Mz
cos θ z =
∑ Fy C1
cos θ y =
R
where qx, qy, and qz are the angles which the vector rep-
∑ Fz resenting the couple C makes with the x, y and z axes,
cos θ z =
R respectively.

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 3.14  |  Part III  ■  Unit 1  ■  Engineering Mechanics

Exercises

1. A weight of 1900 N is supported by two chains of the graph is 3, the distance travelled by the body in 6
lengths of 4 m and 3 m as shown in figure. Determine seconds would be
the tension in each chain. (A) 40 m (B) 60 m
5m (C) 78 m (D) 80 m
A B 6. Match the following:
α β
T1 T2 List I List II
4m 3m
θ1 θ2 a. Two parallel forces acting on a 1. Collision
Chain no 1 Chain no 2
body moving with uniform velocity
C b. A moving particle 2. Forces in equilibrium
1900 N
c. Two coplanar forces equal in 3. Kinetic energy
(A) 1200 N, 1300 N (B) 1100 N, 100 N magnitude but opposite in
direction
(C) 1100 N, 1200 N (D) 1520 N, 1140 N
d. Co-efficient of restitution 4. Couple
2. Four forces of magnitudes 20 N, 40 N, 60 N and 80 N are
acting respectively along the four sides of a square ABCD Codes:
as shown in figure. Determine magnitude of resultant. a b c d a b c d
(A) 4 3 2 1 (B) 1 2 3 4
40 N
(C) 2 3 4 1 (D) None of these
60 N D
C 7. Two forces form a couple only when
(A) magnitude is same have parallel lines of action and
same sense.
(B) magnitude is different, have parallel lines of action
B
but same sense.
A (C)  magnitude is same have non parallel lines of
20 N
80 N action but same sense.
(D) magnitude is same and have parallel lines of action
(A) 40 2 N (B)
50 2 N and opposite sense.
8.
60 2 N
(C) 45 2 N (D) A

3. Match the following: 30° C

P
List I List II 45°
a. Two parallel forces acting on 1. Collision
a body moving with uniform
velocity
b. A moving particle 2. Forces in equilibrium
c. Two coplanar forces equal in 3. Kinetic energy
magnitude but opposite in B
direction
d. Co-efficient of 4. Couple
Two steel truss members AC and BC with cross section
restitution area 100 mm2 is subjected to a horizontal force P kN as
shown in figure. Maximum value of P such that axial
Codes:
stress in any of the members does not exceed 50 MPa is
a b c d a b c d
(A) 10.15 kN (B) 9.22 kN
(A) 4 3 2 1 (B) 1 2 3 4
(C) 7.92 kN (D) 6.83 kN
(C) 2 3 4 1 (D) None of these
9.
4. If the resulting torque act on a system is zero, then A B
20° 70°
(A) linear momentum is conserved.
(B) angular momentum is conserved.
(C) both momentums are conserved.
C
(D) None of these
5. The velocity-time graph of a body is passing through 200 N
the velocity axis with intercept of 4. If the slope of

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 Chapter 1  ■  Introduction—Forces and Equilibrium  |  3.15

A weight of 200 N is hung using a cable as shown in (A) 59.6, 171.7 N (B) 62.4, 176.8 N
the figure. Tensions in portions of cable AC and BC are (C) 62.5, 182.7 N (D) 68.4, 187.9 N
respectively

Previous Years’ Questions

1. A ladder AB of length 5 m and weight (W) 600 N is Q
resting against a wall. Assuming frictionless contact
at the floor (B) and the wall (A), the magnitude of the
force P (in newton) required to maintain equilibrium of
the ladder is ____. [GATE, 2014]
P
A 45°
2.5 m
90°
60°
3m x
2.5 m
R
W

P The respective values of the magnitude (in kN) and

4m B the direction (with respect to the X-axis) of the result-
ant vector are
(A) 290.9 and 96.0°
2. Consider the plane truss with load P as shown in the (B) 368.1 and 94.7°
figure. Let the horizontal and vertical reactions at the (C) 330.4 and 118.9°
joint B be HB and VB, respectively and VC be the verti- (D) 400.1 and 113.5°
cal reaction at the joint C. [GATE, 2016] 4. An assembly made of a rigid arm A-B-C hinged
A G at end A and supported by an elastic rope C-D
L
at  end C is shown in the figure. The members
60° may be assumed to be weightless and the lengths
60° of the respective members are as shown in the
L figure.  [GATE, 2016]
P
A D

E F

L L
Rigid arm Rope
60° 60°
B D C
L L
B C
Which one of the following sets gives the correct val-
ues of VB, HB and VC? L L
(A) VB = 0; HB = 0; VC = P
(B) VB = P/2; HB = 0; VC = P/2 Under the action of a concentrated load P and C as
(C) VB = P/2; HB = P (sin 60°); VC = P/2 shown, the magnitude to tension developed in the rope
(D) VB = P; HB = P (cos 60°); VC = 0 is
3. The magnitudes of vectors P, Q and R are 100 kN, 3P P
(A) (B)
250 kN and 150 kN, respectively as shown in the fig- 2 2
ure. [GATE, 2016] 3P
(C) (D) 2P
8

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 3.16  |  Part III  ■  Unit 1  ■  Engineering Mechanics

Answer Keys

Exercises
1. D 2. A 3. C 4. B 5. C 6. C 7. D 8. D 9. D

Previous Years’ Questions

1.  399 to 401 2. A 3. C 4. B

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 Chapter 2
Free-body
Diagrams—Trusses

CHAPTER HIGHLIGHTS

☞☞ Introduction ☞☞ Superposition and transmissibility

☞☞ Composition and resolution of forces ☞☞ Equilibrium of concurrent forces in a plane
☞☞ Equilibrium law ☞☞ Lami’s theorem
☞☞ Internal and external forces ☞☞ Analysis of roof trusses

Introduction
Free-body Diagram W W
Free-body diagram (FBD) is a sketch of the isolated body,
which shows the external forces on the body and the reac- A
RA
tions exerted on it by the removed elements. A general pro-
cedure for constructing a free-body diagram is as follows:
1. A sketch of the body is drawn by removing the
supporting surfaces.
2. Indicate on the sketch all the applied or active forces, A
which tend to set the body in motion, such as those W
caused by weight of the body, etc.
RA
3. Also indicate on this sketch all the reactive forces, S
such as those caused by the constraints or supports
that tend to prevent motion.
4. All relevant dimensions and angles, reference axes W W
are shown on the sketch. A smooth surface is one
whose friction can be neglected. Smooth surface
prevents the displacement of a body normal to both We isolate the body from its supports and show all forces
the contacting surfaces at their point of contact. The acting on it by vectors, both active (gravity force) and reac-
reaction of a smooth surface or support is directed tive (support reactions) forces.
normal to both contacting surfaces at their point We then consider the condition of equilibrium of forces,
of contact and is applied at that point. Some of the that is, in order that they will have no resultant.
examples are shown in the following diagrams.

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 3.18  |  Part III  ■  Unit 1  ■  Engineering Mechanics

A
F1

RA B
A W W F2
H H
R
B RB C
F3
Beam with roller support at one end
D
F4
E
B
A
C D E Resolution of a Force
The replacement of a single force by several components,
which will be equivalent in action to the given force, is
called ‘the problem of resolution of a force’. In the general
A B case of resolution of a force into any number of coplanar
C D E components intersecting at one point on the line of action,
the problem will be indeterminate unless all, but two of the
Beam with hinged end and fixed end.
components are completely specified in both their magni-
tudes and directions.
A B
C E D
Equilibrium Law
Two forces acting at a point can be in equilibrium only if
A M they are equal in magnitude, opposite in direction and col-
linear in action. Let us consider the equilibrium of a body in
the form of a prismatic bar on the ends of which two forces
are acting as shown in the figure below.
m
Composition and Resolution S
A B
S
of Forces n
The reduction of a given system of forces to the simplest
Neglecting its own weight, it follows from the principle
system that will be its equivalent is called ‘the problem of
just stated that the bar can be in equilibrium only when the
composition of forces’. If several forces F1, F2, F3 applied
forces are equal in magnitude, opposite in direction and col-
to a body at one point, all act in the same plane, then they
linear in action, which means that they must act along the
represent a system of forces that can be reduced to a single
line joining the points of application. Considering the equi-
resultant force. It then becomes possible to find this resultant
librium of a portion of the bar ‘AB’ to the left of a section
by successive application of the parallelogram law. Let us
mn, we conclude that to balance, the external force S at A
consider, for example, four forces F1, F2, F3, and F4 acting
the portion to the right must exert on the portion to the left
on a body at point A, as shown in the following figure. To
an equal, opposite and collinear force ‘S’ as shown in the
find their resultant, we begin by obtaining the resultant AC
given figure.
of the two forces F1 and F2. Combining this resultant with
The magnitude of this internal axial force which the one
force F3, we obtain the resultant AD which must be equiva-
part of a bar in tension exerts on another part is called ‘the
lent to F1, F2, and F3. Finally, combining the forces AD and
tensile force in the bar’ or simply the force in the bar, since in
F4, we obtain the resultant ‘R’ of the given system of forces
general it may be either a tensile force or a compressive force.
F1, F2, F3, and F4. This procedure may be carried on for any
Such an internal force is actually distributed over the cross-
number of given forces acting at a single point in a plane.
sectional area of the bar and its intensity, that is, the force per
A cross-section area is called ‘the stress in the bar’.
F4
F1 F3
B F2
Internal and External Forces
C R Internal forces are the forces which hold together the par-
ticles of a body. For example, if we try to pull a body
D by applying two equal, opposite and collinear forces, an
E internal force comes into play to hold the body together.

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 Chapter 2  ■  Free-body Diagrams—Trusses  |  3.19

Internal forces always occur in pairs and equal in magnitude, effect of the force on any rigid body to which it may be
opposite in direction and collinear. Therefore, the result- applied. This statement is called ‘the theorem of transmis-
ant of all of these internal forces is zero and does not affect sibility of a force’.
the external motion of the body or its state of equilibrium.
External forces or applied forces are the forces that act on
the body due to contact with other bodies or attraction forces
Equilibrium of Concurrent
from other separated bodies. These forces may be surface Forces in a Plane
forces (contact forces) or body forces (gravity forces). Let If a body known to be in equilibrium is acted upon by sev-
us consider the equilibrium of a prismatic bar on each end of eral concurrent coplanar forces, then these forces or rather
which two forces are acting as shown as follows. their free vectors, when geometrically added, must form a
F2 closed polygon. This statement represents the condition of
equilibrium for any system of concurrent forces in a plane.
F1
RA In Figure (a), we consider a ball supported in a vertical plane
A
by a string ‘BC’ and a smooth wall ‘AB’. The free-body dia-
A gram in which the ball has been isolated from its supports,
and in which all forces acting upon it, both active and reac-
tive, are indicated by vectors as shown in Figure (b).
R B = −R A
B B
F3
a S
F4 RB C a
RA
RB O

A force which is equal, opposite, and collinear to the result- W

ant of the two given forces is known as equilibrant of the      W A
given two forces. (a) (b)

Superposition and Transmissibility W a S

S α
RA
O
When two forces are in equilibrium (equal, opposite and
RA W
collinear), then their resultant is zero, and their combined O     
action on a rigid body is equivalent to that of no force at all.
(c) (d)
A generalization of this observation gives us the third prin-
The three concurrent forces W, S and RA are a system of
ciple of statics sometimes called ‘the law of superposition’.
forces in equilibrium and, hence their free vectors must
Law of Superposition build a closed polygon, in this case, a triangle as shown in
Figure (c).
The action of a given system of forces on a rigid body will
If numerical data are not given, we can still sketch the
in no way be changed if we add to or subtract from them
closed triangle of forces, and then express:
another system of forces in equilibrium. Let us consider
now a rigid body ‘AB’ under the action of a force ‘P’ applied RA = W tan a and S = W sec a
at ‘A’ and acting along BA as shown in the Figure (a) below.
From the principles of superposition we conclude that the
application at point ‘B’ of two oppositely directed forces,
Lami’s Theorem
each equal to and collinear with P will in no way alter the If three concurrent forces are acting on a body, kept in equi-
action of the given force ‘P’. That is, the action on the body librium, then each force is proportional to the sine of the
by the three forces shown in Figure (b) is same as the action angle between the other two forces and the constant of pro-
on the Figure (a). portionality is the same. Consider forces P, Q and R acting
at a point ‘O’ as shown in Figure (a). Mathematically Lami’s
P′ theorem is given by the following equation.
A A
P P Q R
= = =k
P B sin α sin β sin γ
B
      P″ Since the forces are in equilibrium, the triangle of forces
(a) (b) should close. Draw the triangle of forces DABC, as shown
This proves that the point of application of a force may be in Figure (b), corresponding to forces P, Q, and R acting at
transmitted along the line of action without changing the a point ‘O’. From the sine rule of the triangle, we get:

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 3.20  |  Part III  ■  Unit 1  ■  Engineering Mechanics

P Q R Supports
= = A truss or a framed structure is held on supports which exert
sin(π − α ) sin(π − β ) sin(π − γ )
reaction on the truss or framed structure that they carry.
P Reactions are to be considered for finding the stresses in the
Q
various members of the structures. The types of supports
γ B
β commonly used are:
P
o γ
α β 1. Simple supports
R
C 2. Pin joint and roller supports
Q
3. Smooth surfaces
α A
R 4. Fixed on encaster and fixtures
(a) (b)
The reactions of the supports are analytically or graphi-
sin(p - a) = sin a
cally evaluated.
sin(p - b) = sin b
sin(p - γ ) = sin γ 1. In a simply supported truss the reactions are always
When feasible, the trigonometric solution, or Lami’s vertical at the supports.
theorem is preferable to the graphical solution since it is 2. At a pin joint support, the reaction passes through the
free from the unavoidable small errors associated with the joint.
graphical constructions and scaling. 3. At a roller surface, the support reaction is vertically
upwards at the surface.
Analysis of Roof Trusses 4. The reaction at a support which is a smooth surface is
always normal to the surface.
Definitions
Truss
Assumptions—Analysis of Trusses
A ‘truss’ or ‘frame’ or ‘braced structure’ is the one con-
sisting of a number of straight bars joined together at the 1. Each truss is assumed to be composed of rigid
extremities. These bars are members of the truss. members to be all lying in one plane. This means that
coplanar force systems are involved.
Plane Truss
2. Forces are transmitted from one member to another
If the centre line of the members of a truss lies in a plane,
through smooth pins fitting perfectly in the members.
the truss is called a ‘plane truss’ or ‘frame’. If the centre line
These are called ‘two force members’.
is not lying in the same plane, as in the case of a shear leg,
the frame is called a ‘space frame’. 3. Weights of the members are neglected because they
are negligible in comparison to the loads.

W1 W2

Plane trusses A C D B

Strut and Tie Pin joint

Roller support
A member under compression is called a ‘strut’ and a mem-
ber under tension is called a ‘tie’.   Pin joint and roller support

Loads
W1 W2
A load is generally defined as a weight or a mass supported. B
Trusses are designed for permanent, intermittent or varying A
loads. Smooth
Pin joint surface
Nodes
  Pin joint and smooth surface
The joints of a frame are called ‘nodes’. A frame is designed
to carry loads at the nodes.
W1 W2 W3
Perfect Frame
A pin joined frame which has got just the sufficient number
of members to resist the loads without undergoing appreci-
  Fixed support
able deformation in shape is called a ‘perfect frame’.

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 Chapter 2  ■  Free-body Diagrams—Trusses  |  3.21

Free-body Diagram of a Truss and the Joints EF

DE
F E BE DE
BE
CE = 0 EF
Joint E
A B D
C
L EF
EF
  Truss
BF AF
AF
F E BF
Joint F

A B D F E
C
R1 L R2

  Free-body diagram of truss as a whole

compression D
A
B C
R1 L R2
Tension
  Free-body diagram of joints
R1

  Free-body diagram of point A

AF
Solution by Method of Joints
To use this technique, draw a free-body diagram of any
AB
AF
pin in the truss provided no more than two unknown forces
R1
act on that pin. This limitation is imposed because the sys-
R1 AB tem of forces is a concurrent one for which of course, only
two equations are available for a solution. From one pin to
  Joint A
another, until the unknown is found out, the procedure can
be followed.
BF BC
BE
BE
AB BC L
BF Working Rules
L AB 1. Depending on the nature of support, provide the
  Joint B reaction components.
(a) For hinged support, provide horizontal and verti-
CE = 0 cal reaction components.
(b) For roller support, provide vertical reaction com-
ponents only.
BC CD
2. Considering the external loads affecting the truss
Joint C only, apply the laws of statics at equilibrium to
evaluate the support reactions.
DE
3. Give the values of the support reactions at appropriate
CD joints.
CD
R2 4. Take the joint which contains the minimum number
DE
of members (minimum number of unknowns) and
R2 apply the conditions of equilibrium to evaluate the
Joint D forces in the members.

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 3.22  |  Part III  ■  Unit 1  ■  Engineering Mechanics

Example: ∴ By taking moments at C and D:

RD = (1 - x)F and Rc = xF.
Q P
2m
C D Now, we separate the members AC and BD and analyze
the forces acting on each member.
3m 3m YB YA
B A
A B XB XA
AH YE
E
2m XE
AV BV XE
D
E
YE
The reaction components at A are AH and AV (because A is
a hinged joint). C
The reaction component at B is BV only (no horizontal RD = (1 − x)F R C = xF
reaction since it is a roller).
Now, evaluate the reaction components considering the For the free-body diagram BD, taking moments about B:
external loads only. That is,
l l
AV + BV = P + Q YE + X E − (1 − x ) Fl = 0
2 2
AH = 0
For the free-body diagram AC, taking the moments
Taking algebraic sum of the moments of all forces about about A:
‘A’ and equating to zero, we get two more equations.
These three equations are sufficient to evaluate the sup- l l
port reactions. YE − X E + XlF = 0.
Once the support reactions are evaluated, joints can 2 2
be considered one by one, to evaluate the force in the ∴ XE = F and YE = (1 - 2x) F.
members.
The resultant is RE = X E 2 + YE 2 = F 1 + (1 − 2 x ) 2
Method of Members—Analysis ∴ By knowing the numerical data for l, x, and the load
of Plane Frames F, the unknowns RD, RC and RE can be found. To find the
Frames differ from trusses principally in one aspect, i.e., reactions at A and B, i.e., RA and RB take the moments about
the action of forces are not limited to their ends only, and the point E for both the free-body diagrams and solve for
so the members are subjected to bending also with tension RA and RB.
or compression. In this method, the members are isolated
as a free body and analyzed with the forces acting on them
by vectors.
Consider the folding stool with the dimensions as shown SOLVED EXAMPLES
in the figure (below) resting on a horizontal floor and a force
‘F’ is acting at a distance of xl form the end point ‘A’. Example 1
The magnitude and nature of stresses in the member ED of
xl F
the truss, loaded (shown below), is
A B
20 kN 40 kN

B C
l E

A 60° 60° 60° 60° D

D C E
l/2 l/2 1.5 m 1.5 m
RD RC
3m 3m
The floor is considered as a smooth floor. Therefore, the (A) 30.4 kN (T) (B) 20.2 kN (T)
reactions at C and D are vertical. (C) 18.69 kN (C) (D) 15.7 kN (T)

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 Chapter 2  ■  Free-body Diagrams—Trusses  |  3.23

Solution SW
From the given figure, sin 60° =
20 kN 40 kN SR

B C 3
=SW = a (∵ SR a)
40.41 kN
2
RW a
Also, cos 60° = ⇒ RW = ,
A 60° 60° 60° 60° D SR 2
1.5 m E 20.2 kN
1.5 m
TW = RT - RW
3m R 2 = 35 kN
R1 a a
∴a − =
2 2
Free-body diagram
a 3
Taking moments about (A) for equilibrium, SmA = 0 VW = VT + TW = a + =
-20 × 1.5 - 40 × 4.5 + R2 × 6 = 0 2 2a
6R2 = 30 + 180
6R2 = 210  3a 
 2  = 1
R2 = 35 kN SW 
tanθ = =
But R1 + R2 = 60 VW  3a  3
\ R1 = 25 kN  2 
Take the joint D. θ = 30°
Force on the member CD,
FCD = 40.41 kN because FCD sin 60° Taking moments about P for equilibrium, SMP = 0
= 35 kN
3a 3
\ Force on ED = FCD − F sinθ × − F cosθ × a + R V × 30 = 0
2 2
cos 60° = 20.2 kN (T):

Example 2 1 3a 3 3
F× × +F× × a = Rv × 3a
All the members of the truss, shown in the following figure, 2 2 2 2
are of equal length and the joints are pinned smooth. It car- F
ries a load F at S whose line of action passes through V. The Rv =
2
reaction at V is:
F Hence, the correct answer is option (C).
Q q U
S
Example 3
P V The force in the member RQ of the truss, as given in the
q figure below is
R T

T 10 kN
(A) Zero
(B) Vertically upwards and equal to F/4 20 kN 15 kN
(C) Vertically upwards and equal to F/2
(D) Vertically upwards and equal to F Q U

Solution
P R V W
F sin θ
F S
Q θ S U
7 kN 5 kN
F cos θ
12 m
a (4 × 3)
60°
P θ (A) 27 kN (Tensile)
V
R W T (B) 15 kN (Compressive)
RV
(C) 20 kN (Compressive)
Let a = length of one member (D) 7 kN (Tensile)

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 3.24  |  Part III  ■  Unit 1  ■  Engineering Mechanics

Solution (A) 8 kN (B) 4 kN

(C) 3.5 kN (D) 2 kN

60° Solution
60°
D 2 kN
60°

4 kN
VD E

Consider the junction R. It must be in equilibrium. The 11.547

force 7 kN can be balanced only by the member QR. 4 kN
\ The force in the member QR 2 kN
HC 2√3 2√3 30°
FQR = 7 kN (Tensile).
6.928 C B A
Hence, the correct answer is option (D). 10 m 10 m

Example 4 Equating vertical forces, VD = 8

Taking moment about D,
The figure is a pin jointed plane truss loaded at point C by
hanging a weight of 1200 kN. The member DB of the truss -2 × 20 - 4 × 10 + HC × 11.54 = 0
is subjected to a load of 80 = 11.54 HC
\ HC = 6.928 kN
A B C
Consider the equilibrium of joint A
FAE sin 30° = 2;   FAE = 4 kN (T)
FAE cos 30° = FBA
D
V3
4 = 2 3FBA
2
E m
1200 kN FBE = 0, FCB = 2 3
Consider point C
(A) zero
Net horizontal force = 6.928 − 2 3
(B) 500 kN in compression
(C) 1200 kN in compression = 3.463 kN
(D) 1200 kN in tension It is to be balanced by the force on EC.
FEC cos 30 = 3.463
Solution \ FEC = 4 kN.
Member DB is perpendicular to AC. Resolving the vertical Hence, the correct answer is option (B).
component of the forces at B, we observe that no force can
be present in member DB. Example 6
Hence, the correct answer is option (A). The type of truss as shown in the figure below, is
D C
Example 5
Find the force in the member EC of the truss shown in the
figure.
A B
D 2 kN E F

4 kN (A) perfect (B) deficient

E (C) redundant (D) None of these

Solution
The number of joints, J = 6
2 kN The number of member, n = 10
10 m B 10 m A
Then, 2j - 3 = 2 × 6 - 3 = 9
C
Since, n > (2j - 3), it is a redundant truss.

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 Chapter 2  ■  Free-body Diagrams—Trusses  |  3.25

Example 7 T
15°
A weight 200 kN is supported by two cables as shown in the
figure below.
A C Q O
RQ
T1 T2

q 60° W
B
T W
200 kN =
sin 90 sin(90° + 15°)
The tension in the cable AB will be minimum when the
sin 90 200 × 1
angle q is: T =W = = 207.1 kN
(A) 0° (B) 30° sin 105 0.965
(C) 90° (D) 120° Hence, the correct answer is option (D).
Example 9
Solution
T1 T2 R
=
sin 150 sin(90 + θ ) θ T

200 kN 150 mm √3002 + 1502 = 335 mm

=
sin 180 − (θ + 60)
Ry P Q
200 sin 30 RH
T1 = 300 mm
sin(120 − θ )
40 N
200 sin 30
= (∵ sin 30° = sin 150)
sin[120 − θ ] A mass of 40 N is suspended from a weightless bar PQ
which is supported by a cable QR and a pin at P. At P, on
T1 is minimum when sin(120 - q) is minimum, the bar, the horizontal one vertical component of the reac-
i.e., when sin(120 - q) is maximum tion, respectively, are:
(A) 80 N and 0 N (B) 75 N and 0 N
i.e., when sin(120 - q) = 1 (C) 60 N and 80 N (D) 55 N and 80 N
i.e., when 120 - q = 90
Solution
i.e., when q = 30°
Hence, the correct answer is option (B). 150
θ = cos −1 = 63.4°
335
Example 8 The vertical components of the forces at Q:
A 200 kN weight is hung on a string as shown in the figure 40 = T cos 63.4°
below. The tension T is: 40
= T = T = 89.336 N
cos 63.4
T
15° The vertical components of the forces at P, Ry = 0
The horizontal component of the forces at
O
RQP, RH = T sin 63.4 = 80 N.
Q
Example 10
200 kN A truck of weight Mg is shown in the figure. A force ‘F’
(pull) is applied. The reaction at the front wheels at location
P is:
(A) 200 kN (B) 300 kN
(C) 160 kN (D) 207.1 kN
F
b
Solution
The three forces T, RB and 200 kN are in equilibrium at Q Mg P
point O. a a

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 3.26  |  Part III  ■  Unit 1  ■  Engineering Mechanics

Mg Fb Mg Fb Example 11
(A) + (B) + The value of the resultant force, R, will be:
2a 2 a 2
(A) 17.32 N (B) 20 N
Mg Fb Mg F
(C) + (D) + (C) 15 N (D) 21 N
2 2a 2a 2
Solution
Solution
Taking moment about Q: R = 20 2 + 10 2 + 2 × 20 × 10 × cos 120° = 17.32 N
SMQ = 0 = RP × 2a - Mg × a - F × b Hence, the correct answer is option (A).
Mg × a + F × b Mg Fb
RP = = + .
2a 2 2a Example 12
Hence, the correct answer is option (C). The value of a made by the resultant force with the horizon-
tal force will be:
Direction for solved examples 11 and 12: (A) 30 (B) 13
All the forces acting on a particle situated at the point of (C) 14.5 (D) 15
origin of a two-dimensional reference frame. One force
has magnitude of 20 N acting in the positive x direction. Solution
Whereas the other has a magnitude of 10 N at an angle of From triangle OQP:
120° with force directed away from the origin with respect
10 R 17.32
to the positive direction to the direction of 20 N. = =
sin α sin 60 0.866
S Q
sin α = 0.5
R a = 30°.
10 N 120°
a 60° Hence, the correct answer is option (A).
O 20 N P

Exercises

1. The figure shows a pin-jointed plane truss loaded at the Q R

point M by hanging a mass of 100 kg. The member LN B
of the truss is subjected to a load of
B B

B B B
K L M P S
U T

The members PQ, TQ and SR are inclined at 45° to the

horizontal. If an uniformly distributed load ‘F’ per unit
length is present on the member QR of the truss shown
N
in the figure above, then the force in the member UT is

(A) FB (B) FB
O 2
m
2 FB
(C) 0 (D)
3
3. P P
(A) 0N
X X
(B) 490 N in compression
(C) 981 N in compression 200 mm
(D) 981 N in tension
pin
2. A truss consists of horizontal members (PU, UT, TS,
QR) and vertical members (UQ, TR) all having a length
B each.

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 Chapter 2  ■  Free-body Diagrams—Trusses  |  3.27

100 mm
6. 6 kN 8 kN

Y Y
E D

1000 N
B
The figure shows a pair of pin jointed gripper tongs 30° 60° 30° 60°
A C
holding an object weighing 1000 N. The co-efficient of
friction (m) at the gripping surface is 0.1. XX is the line 5m 5m
of action of the input force P and YY is the line of appli-
cation of gripping force. If the pin joint is assumed 6 kN
to be frictionless, then the magnitude of the force P
required to hold the weight is A simply supported structure is loaded as shown in the
(A) 500 N (B) 1000 N figure. Force in the member AB is
(C) 2000 N (D) 2500 N (A) 10.26 kN (B) 13.42 kN
(C) 15.75 kN (D) 17.83 kN
4. A stone with a mass of 0.2 kg is catapulted as shown
in the figure below. The total force Fx (in N) exerted by 7. 5 kN 5 kN
the rubber band as a function of the distance x (in m)
is given by Fx = 300 x2. If the stone is displaced by 0.2
m from the unstretched position (x = 0) of the rubber E F
band, the energy stored in the rubber band is

45° 45° 45°

A B
5m C 5m D 5m
0.2 kg
f

Stone of mass
F For the truss loaded as shown in the above figure, force
in the member CD is
(A) 5 kN (B) 2.5 kN
(A) 0.02 J (B) 0.3 J
(C) 0.8 J (D) 10 J 5
(C) kN (D) 5 2 kN
5. For the truss shown in the figure, the force (N) in the 2
member BC is
8. A B
W W
20°
70°

B C

C
30°

200 N
60° 30°
A D
A weight of 200 N is hung using a cable as shown in
the figure. Tensions in portions of cable AC and BC are
(A) 0 N (compressive) respectively
(A) 59.6, 171.7 N
(B) 0.577 W (tensile)
(B) 62.4, 176.8 N
(C) 0.577 W (compressive) (C) 62.5, 182.7 N
(D) 0.866 W (compressive) (D) 68.4, 187.9 N

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 3.28  |  Part III  ■  Unit 1  ■  Engineering Mechanics

9. A Two heavy spheres of equal weight W and radius 50

mm lies in a smooth cup of 150 mm radius and are in
equilibrium. The ratio of reaction between sphere and
30° C cup to reaction between spheres is
P
45° (A) 2 (B) 2
1
(C) 1 (D)
2 2
1 3. A roller of radius ‘r’ and weight ‘W’ is to be rolled over
a curb of height ‘h’ by a horizontal force ‘P’ applied
to the end of a string wound around the circumference
B of roller. Find the magnitude of ‘P’ required to start
the roller over the curb. Assume that contact at ‘B’ is
Two steel truss members AC and BC with cross-section frictionless but there is sufficient friction between roller
area 100 mm2 is subjected to a horizontal force P kN surface and the edge of the curb to present slip at ‘A’.
as shown in figure. Maximum value of P such that axial Given r/h = 2
stress in any of the members does not exceed 50 MPa is
B
(A) 10.15 kN (B) 9.22 kN P
(C) 7.92 kN (D) 6.83 kN r
10. A mechanism has 5 numbers of joints and 6 members.
The number of additional members needed to make it a B
perfect frame will be h
(A) 4 (B) 3
(C) 2 (D) 1
11. 5 kN 5 kN W W
P>
(A) P>
(B)
2 3
E F
W W
P<
(C) P<
(D)
2 3

14. 10 kN
45° 45° 45°
A B
5m C 5m D 5m C

For the truss loaded as shown in the above figure, force

in the member CD is
(A) 5 kN (B) 2.5 kN A 45° 60° B
5
(C) kN (D) 5 2 kN
2
12. 150 mm radius In the truss loaded as shown in the figure, tension in the
W W member AB is
S S (A) 3.66 kN (B) 3.86 kN
(C) 4.14 kN (D) 4.92 kN
50 m 50 m

R R

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 Chapter 2  ■  Free-body Diagrams—Trusses  |  3.29

Previous Years’ Questions

1. Consider a truss PQR loaded at P with a force F as (A) 11.25 tension (B) 11.25 compression
shown in the figure. The tension in the member QR is (C) 13.5 tension (D) 13.5 compression
 [GATE, 2008] 3. For the truss shown in the figure, the magnitude of the
F force in member PR and the support reaction at R are
respectively [GATE, 2015]
P
100 kN
60° P

45° 30°
Q R

(A) 0.5 F (B) 0.63 F

(C) 0.73 F (D) 0.87 F Q 45° R

2. For the truss shown in the figure, the forces F1 and F2

are 9 kN and 3 kN, respectively. The force (in kN) in 4m
the member QS is (All dimensions are in m)
 [GATE, 2014]
F1 F2 (A) 122.47 kN and 50 kN
(B) 70.71 kN and 100 kN
3 3
(C) 70.71 kN and 50 kN
P Q R (D) 81.65 kN and 100 kN

S T

1.5 3

Answer Keys

Exercises
 1. A 2. A 3. D 4. C 5. C 6. B 7. A 8. D 9. D 10. D
11. A 12. A 13. B 14. A

Previous Years’ Questions

1. B 2. A 3. C

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 Chapter 3
Friction, Centre of
Gravity, Moment of Inertia

CHAPTER HIGHLIGHTS

☞☞ Introduction ☞☞ Screw jack

☞☞ Laws of friction ☞☞ Differential screw jack
☞☞ Force determinations for different scenarios ☞☞ Centre of gravity
☞☞ Cone of friction ☞☞ Theorems of Pappus–Guldinus
☞☞ Virtual work ☞☞ Area moment of inertia
☞☞ Lifting machine ☞☞ Centroid of solids
☞☞ Reversible and irreversible machine ☞☞ Mass moment of inertia

Introduction 5. Coefficient of static friction:

W
Friction Definitions
1. Static friction: It is the friction between two bodies
which is a tangential force and opposes the sliding of S P
f R
one body relative to the other.
2. Limiting friction: It is the maximum value of the F
static friction that occurs when motion is impending. F
3. Kinetic friction: It is the tangential force between
two bodies after motion begins. Its value is less than f
S
the corresponding static friction. R

4. Angle of friction: It is the angle between the action

line of the total reaction of one body on another and F
the normal to the common tangent between the bodies
when motion is impending. It is defined as the ratio of the limiting force of
friction (F) to the normal reaction (R) between two
It is also defined as the angle made by the resultant bodies (see the above figure, where a solid body rests
(S) of the normal reaction (R) and the limiting force of on a horizontal plane). It is denoted by m.
friction (F) with the normal reaction R (see the following
figure). It is denoted by f. From the figure, we have: Limiting force of friction F
µ= =
F µR Normal reaction R
tan φ = =
R R ∴ F = µR
m = Coefficient of friction

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 Chapter 3  ■  Friction, Centre of Gravity, Moment of Inertia  |  3.31

6. Angle of repose: Third Law

W The limiting frictional force or resistance bears a constant
ratio with the normal reaction. This ratio depends on the
nature of the surfaces in contact. The limiting frictional
resistance is independent of the area of contact.

F f R Fourth Law
a S When motion takes place as one body slides over the other,
the magnitude of the frictional force or resistance will be
The
above figure shows a block of weight W on a slightly less than the offered force at that condition of limit-
rough inclined plane which is inclined at an angle a ing equilibrium. The magnitude of the frictional force will
with the horizontal. Let R be the normal reaction and depend only on the nature of the sliding surfaces and inde-
F be the force of friction. From applying the condition pendent of the shape or extent of the contact surfaces.
of equilibrium, algebraic sum of the forces resolved
along the plane:
W sin α = F (1)
Force Determinations
for Different Scenarios
Algebraic sum of the forces resolved perpendicular
Least force is required to drag a body on a rough hori-
to the plane:
zontal plane:
W cos α = R (2) W P
From Eqs. (1) and (2):
F = μR θ
F
tan α =
R
F R
But, tan φ =
R
∴ Angle of plane = Angle of friction Force ‘P’ is applied, at an angle q to the horizontal, on a
block of weight W, such that the motion impends or the
Suppose the angle of the plane a is increased to a value block tends to move.
f, so that the block is at the point of sliding or the state of
W sin φ
impending motion occurs, then at this angle: Force, P =
cos(θ − φ )
m = tan l = tan a
Least force required, Pleast = Wsin f
\l=a
Force ‘P’ acting on a block (weight = W) along a rough
Hence, the angle of repose is defined as the angle to inclined plane:
which an inclined plane may be raised before an object rest-
W P
ing on it will move under the action of the force of gravity
and the reaction of the plane.
F=μR
Hence, Angle of repose = Angle of plane.
Motion
direction R
Laws of Friction α
First Law
Friction always opposes motion and comes into play only W sin(α − φ )
when a body is urged to move. Frictional force always acts For motion down the plane, P =
cos φ
in a direction opposite to that in which the body tends to
move.
W sin(α − φ )
For motion up the plane, P =
cos φ
Second Law
The magnitude of the frictional force is just sufficient to pre- Force ‘P’ acting horizontally on a block (weight = W)
vent the body from moving. That is, only as much resistance resting on a rough inclined plane:
as required to prevent motion is offered as friction. For motion down the plane, P = W tan(α − φ )

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 3.32  |  Part III  ■  Unit 1  ■  Engineering Mechanics

For motion up the plane, P = W tan (α + φ ) SOLVED EXAMPLE

W F = μR
Example 1
P Determine whether the 2 kN block (shown in the figure
Motion below) will be held in equilibrium by a horizontal force of
direction
R 3 kN? The coefficient of static friction is 0.3 and the maxi-
α mum value of frictional force is:

Force ‘P’ acting, at an angle q to the plane, on a block

(weight = W ) resting on a rough inclined plane: 3 kN

W
q W = 2 kN
30°
F = mR
Motion (A) 0.96 kN (B) 0.86 kN
direction R (C) 0.75 kN (D) 0.65 kN
a
Solution

W sin(α − φ )
For motion down the plane, P =
cos(θ + φ )
3 kN

W sin(α + φ )
For motion up the plane: P =
cos(θ − φ )
2 kN

Applying the conditions of equilibrium and summing the

Cone of Friction force parallel and perpendicular to the plane, we have:
ΣF(parallel to the plane) = 0
R -F - 2sin 30° + 3cos 30° = 0
S
axis 1
F = −2 × + 3 × 0.866
2
= -1 + 2.598 = 1.598 kN
ϕ ϕ
ΣF(perpendicular to the plane) = 0
Direction of B A Direction R - 2 cos 30° - 3 sin 30° = 0
frictional in which R = 2 × 0.866 + 3 × 0.5 = 1.732 + 1.5
force motion
O impends = 3.232 kN
Point of contact This indicates that the value of F necessary to hold the
Let OR represent the normal reaction offered by a surface on block from moving up the plane is 1.598 kN. However, the
a body, and let the direction of impending motion be along maximum value obtainable as the frictional force,
OA while the direction in which the frictional force acts is in Ff = mR = 0.3 × 3.232 = 0.9696 kN
the opposite direction, i.e., along OB. Assuming that the body
is in a state of limiting equilibrium, the resultant reaction This means that the block will move up the plane.
S makes an angle of f with the normal OR. If the body slides Hence, the correct answer is option (A).
in any other direction, the resultant reaction S will still make
the same angle f with the normal. It is, therefore, seen that Example 2
when limiting equilibrium is maintained, then the line of An effort of 2 kN is required just to move a certain body up
action of the resultant reaction should always lie on the sur- an inclined plane of angle 15°, the force acting parallel to
face of an inverted right circular cone whose semi-vertical the plane. If the angle of inclination of the plane is made
angle is f. This cone is known as the cone of friction. 20°, the effort required, again applied parallel to the plane,

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 Chapter 3  ■  Friction, Centre of Gravity, Moment of Inertia  |  3.33

is found to be 2.3 kN. Find the weight of the body and the Solution
coefficient of friction.
(A) 3.9 kN, 0.258 (B) 4.5 kN, 0.26 T T
(C) 3.8 kN, 0.24 (D) 3.8 kN, 0.268 N1 N2
Direction of F1 = μ1 N1
Solution motion
Let W be the weight of the body, m be the coefficient of F2 = μ2 N2
Direction of motion
friction and P be the effort when the inclination of the plane θ1 5000 cos θ1
500 2000 cos θ2 2000
is a.
θ1
Applying the conditions of equilibrium and summing the
forces parallel and perpendicular to the plane, we have:
ΣF(parallel to the plane) = 0 For mass 1,
P - mR - W sin a = 0 (1)
ΣH = 0 gives T = F1 + 500sin q1
ΣF(perpendicular to the plane) = 0
R - Wcos a = 0 (2) = m1N1 + 500sin q1
liminating R from Eqs. (1) and (2), we have: ΣV = 0 gives N1 = 500 cos q1
P = m W cos a + W sin a or ⇒ T = 500sin q1 + m1 × 500cos q1
P = W(m cos a + sin a)(3) = 500 sin 45 + 0.2 × 500 cos
When a = 15°, P = 2 kN, and when a = 20°, P = 2.3 kN.
Substituting in Eqs. (3), we have: 45 = 424.3 N.
2 = W(m cos a + sin a)
2 = W(m cos 15° + sin 15°)(4)
2.3 = W(m cos 20° + sin 20°)(5) Virtual Work
Dividing Eq. (5) by Eq. (4), we have: Virtual displacement: Virtual displacement is defined
2 µ cos 15° + sin 15° as an infinitesimal (exceedingly small) displacement
= given hypothetically to a particle or to a body or to a
2.3 µ cos 20° + sin 20°
system of bodies in equilibrium consistent with the
2 µ × 0.966 + 0.258 constraints. The displacement is only imagined and it
=
2.3 µ × 0.939 + 0.342 does not have to take place. For this reason it is called
‘virtual displacement’.
or m[(2.3 × 0.969) - (2 × 0.939)]
Virtual work: Virtual work is defined as the work done by
= [( 2 × 0.342) − ( 2.3 × 0.258)] a force on a body due to a small virtual (i.e., imaginary)
m = 0.0906
or 0.3507  displacement of the body.
0.0906
µ= = 0.258
0.3507 Principle of Virtual Work
From Eq. (5), If a system of forces acting on a body or a system of bodies
2.3 = W [0.258 × 0.939 + 0.342] be in equilibrium and if the system be assumed to undergo
= W (0.242 + 0.342) = 0.584 W a small displacement consistent with the geometrical condi-
2.3 tions, then the algebraic sum of the virtual work done by the
= W = 3.938 kN forces of the system is zero.
0.584
Y A′
Hence, the correct answer is option (A). k
h
Example 3 B C
Find the maximum tension in the chord shown in the figure, F
r
if the bodies have developed full friction. r
A x
α
y

θ
500 N x X
Chord μ = 0.2 2000 N
To illustrate the principle of work, let us consider a body
at equilibrium at a point A. A force ‘F’ acts on the body
45° μ = 0.1 30° and displaces it to the point A′, where the displacement
consisting:

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 3.34  |  Part III  ■  Unit 1  ■  Engineering Mechanics

1. Very small rotation through angle a about the origin Input of a Machine
of the rectangular 2-D coordinate system, say origin It is defined as the amount of total work done on the
O in the xy plane. machine. This is measured by the product of the effort and
2. Very small displacement h along the X-axis, and the distance through which it moves.
3. A very small displacement k along the Y-axis. Input = Effort × Distance moved by the effort
If the components of the force F along the X-axis and =P×y
Y-axis are Fx and Fy respectively, then work done by the It has the unit of Nm.
force ‘F’ when its point of application is displaced from
point A to A′. Output of a Machine
= hFx + kFy + α ( xFy − yFx ) It is defined as the amount of work got out of a machine or
the actual work done by the machine.
If a system of forces act on the body where h, k, and Output of the machine
a are the same for every force, then work done by all the = Load × Distance through which load is lifted
forces, =W×x
= h∑ Fx + k ∑ Fy + α ∑ ( xFy − yFx ) It has the unit of Nm.

where ΣFx and ΣFy are the sums of the resolved parts Velocity Ratio (VR)
of the forces along the X-axis and Y-axis respectively, and
Σ(xFy - yFx) is the moments of the forces about origin O. It is defined as the ratio of the distance moved by the effort
to the distance moved by the load during the same interval
Since the system is in equilibrium, all the three terms in
of time.
the above expression, for the work done by all the forces, is
zero. Hence, the sum of the virtual works done by the forces Distance moved by the effort y
is zero. = VR =
Distance moved by the load x

Lifting Machine NOTE

In all machines y > x.
Lifting machines are defined as those appliances or machines
which are used for lifting heavy loads. They are also called
‘simple machines’. Some commonly used machines are: Mechanical Advantage (MA)
1. Lever It is defined as the ratio of the load or weight lifted to the
effort applied.
2. Inclined plane
3. Wedge Weight lifted W
=MA =
4. Wheel and axle Effort applied P
5. Winch crab
NOTE
6. A pulley and system of pulleys
In all machines W > P.
7. Screw jack
Screw jack is the most important among all the above men- Ideal Machine
tioned simple machines. It is defined as the machine which is absolutely free from
frictional resistances. In such a machine, input = output.
Load or Resistance
For an ideal machines, VR = MA.
A machine has to either lift a load or overcome a resistance.
It is usually denoted by W and its unit is N. Efficiency of a Machine
Example: A lifting device lifts a load or heavy weight, It is the ratio of output of the machine to the input of the
whereas a bicycle overcomes the frictional resistance machine.
between the wheels and the road. Output of the machine × 100
η=
Efforts Input of the machine
It is the force which is applied to a machine to lift a load Useful work done by the machine × 100
=
or to overcome resistance against a movement. It is usually Energy supplied to the machinee
denoted by P and its unit is N.
W ×x
Example: Force applied on the pedals of a bicycle or on the = × 100
handle of a screw jack. P× y

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 Chapter 3  ■  Friction, Centre of Gravity, Moment of Inertia  |  3.35

For an ideal machine, h = 100%. For an actual machine: The expression for maximum efficiency is given by
1
Ideal effort Actual load η max = .
η= = . m × ( VR )
Actual effort Ideal load

Relation between MA, VR, and h

W Screw Jack
W × x P MA It is a device for lifting heavy loads by applying compara-
η= = = tively a smaller effort at the end of the handle. The screw
P× y y VR
x jack works on the principle of inclined plane.

l
Frictional Losses
W
Output = Input - Losses due to friction

W Screw head
Effort lost in friction = P − Handle
VR
Loss in load lifted due to friction = P × VR - W Nut
Here, P is the actual effort required to overcome resist-
ance W or lift load W.

Reversible and Irreversible

Machine
A machine is said to be reversible when the load W gets d
lowered on the removal of the effort. In such a case, work is
done by the machine in reverse direction.
A machine is said to be irreversible when the load W It mainly consists of a nut which forms the body of the jack
does not fall down on the removal of the effort. In such a and a screw is fitted into it. The threads are generally square.
case, work is not done in the reverse direction. The load ‘W’ is placed on the head of the screw. By rotating
The condition of irreversibility or self-locking of a the screw with a handle the load is lifted or lowered. Let W
machine is that its efficiency should be less than 50%. be the load lifted, a be the angle of helix of the screw and f
be the angle of friction.
Compound Efficiency tan α
Here, Efficiency = , which shows that effi-
tan(α + φ )
It is defined as the overall efficiency of the combination of
machines and it is the product of the efficiencies of the indi- ciency is independent of the load lifted or lowered.
vidual machines. Assuming that the effort is applied at the end of the han-
The overall efficiency h of n machines coupled together dle, let us consider the following two cases.
n
is η = ∏ηi , where ηi is the efficiency of the ith machine. Case 1: Let the weight W be lifted.
i =1 Let, PE be the effort applied at the end of the handle. Let
l be the length of the handle, and let d be the mean diameter
Law of a Machine of the screw.
It is defined as the relationship which exists between the Σm about the axis is zero.
effort applied and the load lifted. Let p be the pitch and m be the coefficient of friction,
then:
P = mW + C
p
P is the effort applied, W is the corresponding load, m tan α =
and C are coefficients which are determined in any machine πd
after conducting a series of tests and plotting the W versus tan φ = µ
P graph.
The expression for maximum mechanical advantage is Wd p + µ π d
1 pE = ⋅
given by (MA)max = . 2l π d − µ p
m

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 3.36  |  Part III  ■  Unit 1  ■  Engineering Mechanics

Case 2: Let the weight W be lowered. Direction for solved examples 4 and 5:
Let Q be the effort applied at the circumference of the A screw jack has a pitch of 12 mm with a mean radius of
screw, and let QE be the actual effort applied at the end of thread equal to 25 mm a lever 500 mm long is used to raise
the handle. a load of 1500 kg. The coefficient of friction is 0.10.
Q = W tan(f - a)
Example 4
Wd µπ d − p
QE = ⋅ Find the helix angle a and q (i.e., friction angle).
2l π d + µ p
(A) 6.2°, 4.5° (B) 4.85°, 5.7°
np (C) 4.85°, 5.7° (D) 4.36°, 5.7°
For an n-threaded screw, tan α = .
πd
Solution
Differential Screw Jack Given, P = 12 mm, d = 2r = 25 × 2 = 50 mm,
Instead of only one threaded spindle as in the case of a sim- l = 500 mm
ple screw jack it has two threaded spindles S1 and S2. The W = 1500 kg, m = 0.10, tanf = m = 0.10,
spindle S1 is screwed to the base which is fixed. f = 5.71°
P 12
W tan α = = = 0.076
π d π × 50
a = 4.36°.

Example 5
S2 l
What force is necessary when applied normal to the lever
at its free end?
(A) 13.319 kg (B) 12.8 kg
(C) 14.5 kg (D) 18.3 kg

Solution
S1
wd
P= tan(α + φ )
2l
1500 × 50
= × tan( 4.36 + 5.71)
2 × 500
P = 13.319 kg.
This spindle carries both internal as well as external threads.
The spindle S2 is engaged to spindle S1 by means of an inter- Direction for solved examples 6 to 8:
nal thread. When spindle S1 ascends, spindle S2 descends.
A uniform ladder of weight 500 N and the length 8 m rests
This is also known as ‘differential screw’ jack. The principle
on a horizontal ground and leans against a smooth vertical
of working of this jack is similar to the one as described in
wall. The angle made by the ladder with the horizontal is
the given figure.
60°. When a man of weight 500 N stands on the ladder at a
Let ps = Pitch of the threads on S1
1
distance of 4 metre from the top of the ladder, the ladder is
ps = Pitch of the threads on S2
2 at the point of sliding.
Let the lever length be ‘l’ and the effort be applied at the
end of this lever.
Example 6
When the lever is moved by one revolution, the distance
covered by the effort P is 2pl, and correspondingly, the load Find the coefficient of friction in terms of RB.
distance is equal to ps1 − ps2 .
B RB
2π l
Then, Velocity ratio ( VR ) = .
p −p
s1 s2
NOTE
RA
ps1 is always greater than ps2 . Due to this difference, the
60°
mechanical advantage as well as the velocity ratio will be A
more. μRA
W+w

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 Chapter 3  ■  Friction, Centre of Gravity, Moment of Inertia  |  3.37

RB Lamina
(A) µ = (B) m = 1400 RB
1000 A very thin plate or sheet of any cross-section is known as
R lamina. Its thickness is so small that it can be considered as
(C) m = 500 RB (D) µ = B a plane figure or area having no mass.
500
Solution Determination of the Centre of Gravity of
Resolving all the forces RB = mRA: a Thin Irregular Lamina
RA = W + w = 500 + 500 = 1000 Y

RB = m × RA = m × 1000 x1 a1

RB xG G
µ= .
1000 x2 a2

Example 7 y1
yG y2
Find the reaction at B (i.e., RB­).
O X
(A) 289 (B) 300
(C) 350 (D) 400 The above figure shows an irregular lamina of total area
‘A’ whose centre of gravity is to be determined. Let the
Solution lamina be composed of small areas a1, a2, …, etc., such that:
Taking moment at A, MA = 0:
A = a1 + a2 + … = Sai
3 8 1 1
RB × 8 × = 500 × × + 500 × 4 × Let the distances of the centroids of the areas a1, a2, …,
2 2 2 2 etc., from the X-axis be y1, y2, ..., etc., respectively, and from
500 × 2 + 1000 the Y-axis be x1, x2, …, etc. The sum of moments of all the
RB = = 289.
6.92 small areas about the Y-axis
= a1 x1 + a2 x2 + … = Σaixi
Example 8
Find the value of coefficient of friction. Let xG and yG be the coordinates of the centre of gravity
(A) 0.370 (B) 0.486 G from the Y-axis and X-axis, respectively. From the princi-
(C) 0.289 (D) 0.355 ple of moments, it can be written that:
AxG = Σaixi
Solution ∑ ai xi ∑ ai xi
RB 289 or    xG = =
From equation µ = = = 0.289 A ∑ ai
1000 1000
Similarly, it can be shown that:
∑ ai yi
Centre of Gravity yG =
∑ ai
.
The centre of gravity of a body is the point, through which
the whole weight of the body acts, irrespective of the posi- NOTES
tion in which the body is placed. This can also be defined as 1. The axis of reference of a plane figure is generally
the centre of the gravitational forces acting on the body. It is taken as the bottommost line of the figure for
denoted by G or CG. determining yG and the leftmost line of the figure for
calculating xG.
Centroid
2. If the figure is symmetrical about the X-axis or
It is defined as that point at which the total area of a plane Y-axis, then the centre of gravity will lie on the axis
figure (i.e., rectangle, square, triangle, quadrilateral, circle, of symmetry.
etc.,) is assumed to be concentrated. The centroid and
3. For solid bodies, elementary masses m1, m2, etc., are
the centre of gravity are one and the same point. It is also
considered instead the areas a1, a2, etc., and the centre
denoted by G or CG.
of gravity’s coordinates are given as follows:
Centroidal Axis ∑ mi xi ∑ mi yi
It is defined as that axis which passes through the centre of xG = , yG =
∑ mi ∑ mi
gravity of a body or through the centroid of an area.

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 3.38  |  Part III  ■  Unit 1  ■  Engineering Mechanics

Example 9 CG of the figure coordinates,

Determine the position of the centre of gravity for the fol- A1 x1 + A2 x2 + A3 x3
lowing figure. XG = =6m
A1 + A2 + A3
2m
A1 y1 + A2 y2 + A3 y3
YG = = 4 m.
A1 + A2 + A3
3m 5m

10 m
Integration Method for
5m
Centroid Determination
10 m
3m in a Thin Lamina or Solid
In this method, the given figure is not split into shapes of
2m figures of known centroid as done in the previous section.
The centroid is directly found out by determining Σai yi or
Σaixi and Σai by direct integration.
Solution
Y
D E
First Moment of Area
Consider a plane region of area A as shown in the following
figure.
B C C′
G′ G F Y x
Plane region
dA
A H
O X
yG •
The X-axis and Y-axis of reference are chosen as shown in G
y
the above figure such that origin O coincides with point A
of the figure and the axes coincide with the leftmost and xG X
bottommost lines of the figure, respectively. The position of
the centre of gravity is determined with respect to origin O. Let dA be a differential (i.e., infinitesimal) area located at
The figure is broken down into three areas AHGG′, the point (x, y) in the plane region area A.
G′FC′B, and CC′ED
Here, A = ∫ dA
For rectangle AHGG′,
A
Area, A1 = 3 × 2 = 6 m2
First moments of the area about the X-axis and Y-axis
2 are respectively:
CG coordinates, x1 = =1m
2
3 M x = ∫ ydA
y1= = 1.5 m A
2
For rectangle G′FC′B, M y = ∫ xdA
A
Area, A2 = (2 + 10) × (5 - 3) = 24 m2
( 2 + 10) The coordinates (xG, yG) of the centre of gravity of the
CG coordinates, x2 = =6m plane region is given by:
2
(5 − 3)
=4m
y2 = 3 +
2 My ∫ x dA
A
XG = =
For rectangle CC′ED, A
∫ dA
Area, A3 = 3 × 2 = 6 m2 A

2
CG coordinates, x3 = 10 + = 11 m
2 Mx
∫ y dA
A
YG = =
3
y3 = 5 + = 6.5 m
2
A
∫ dA
A

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 Chapter 3  ■  Friction, Centre of Gravity, Moment of Inertia  |  3.39

NOTES 4 4

1. If the X-axis passes through the centre of gravity, then Mx Area of OBC, A = ∫ dA = ∫ 0.625 x 2 dx
0 0
= 0. Similarly, My = 0, when the Y-axis passes through the
centre of gravity. 43
= 0.625 ×
2. If the plane region is symmetric about the Y-axis, then 3
My = 0 and xG = 0, i.e., the centre of gravity would lie Moment of area about X-axis:
somewhere on the Y-axis. Similarly, Mx = 0 and yG 4 4
y 0.625 x 2
= 0, if the plane region is symmetric about the X-axis, M x = ∫ dA = ∫ 0.625 x 2 dx
2 0 2
i.e., the centre of gravity would lie somewhere on the 0
X-axis. 0.6252 45
= ×
If instead of a plane region, we have a plane curve 2 5
of length L and on which a differential length dL is Moment of area about Y-axis:
considered which is located at the point (x, y) on the
curve, then the coordinates of the centre of gravity for 4 4
44
the planar curve is given as follows: M y = ∫ dAx = ∫ 0.625 x 2 dxx = 0.625 ×
0 0
4

My ∫ x dL
XG = = L Let xG and yG be the x and y coordinates of the centre of
L
∫ dL gravity of OBC with respect to the point O.
L Then, Mx = AyG and My = AxG

Mx
∫ y dL yG =
0.6252 45
× ×
3
=3
L
YG = = 2 5 0.625 × 43
A
∫ dL
L 44 3
xG = 0.625 × × =3
4 0.625 × 43
Example 10 Hence, the correct answer is option (D).
The centre of gravity of the following shown area
OBC, where the curve OC is given by the equation Example 11
y = 0.625x2, with respect to the point O(0, 0) is The centre of gravity of the following hatched figure with
Y respect to the point E is
C Y

A C
O X 60
4 B 40 40
X
(A) (6, 5) (B) (6, 3) E D F
(C) (3, 5) (D) (3, 3) 30

80
Solution
(A) (20, 30) (B) (37.84, 27.45)
Y
(C) (20, 27.45) (D) (37.84, 30)
C
Solution
1
For DABC, area A1 = 80 × (60 − 40) = 800
y 2
X
O (0, 0) x B(4, 0) 2 160
CG coordinates, x1 = × 80 =
dx 3 3
1 140
Let us consider an elementary rectangular area of height y y1 = 40 + × (60 − 40) =
and width dx as shown in the given figure. 3 3
Area of the elementary rectangle, dA = y dx = 0.625x2 dx For DACFE, area A2 = 40 × 80 = 3200

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 3.40  |  Part III  ■  Unit 1  ■  Engineering Mechanics

80 NOTE
CG coordinates, x=
2 = 40
2 The generating curve must not cross the axis about
which it is rotated.
40
y=
2 = 20
2 In the given figure:
Length of the generating curve = L
1 Distance travelled by the centroid while the surface is
For DCFD, area A3 = 30 × 40 = 600
2 being generated = 2pr (circumference of a circle of radius r)
\ Area of the surface of the cylinder generated
2 = L × 2pr = 2prL
CG coordinates, x3 = 50 + × 30 = 70
3 A body of revolution is a body which can be generated
by rotating a plane area about a fixed axis.
1 40
y3 = × 40 = Y
3 3
Y
Since DCFD is cut out from figure ABFE to obtain the
hatched figure, the area of DCFD is assigned a negative sign.
\ A3 = -600
Let xG and yG be the x and y coordinates of the centre A
of gravity of the hatched figure with respect to the point E,
X
then: B r r
O X
A1 x1 + A2 x2 + A3 x3 r r
xG = = 37.84
A1 + A2 + A3
(a)          (b)
A1 y1 + A2 y2 + A3 y3
yG = = 27.45 For example, in the above figure the volume of a sphere is
A1 + A2 + A3
obtained by rotating the semi-circle OAB about the X-axis.
Hence, the correct answer is option (B).
Theorem II
The volume of a body of revolution is equal to the product
Theorems of Pappus–Guldinus of the generating area and the distance travelled by the cen-
A surface of revolution is a surface which can be generated troid of the area while the body is being generated.
by rotating a plane curve about a fixed axis.
NOTE
Y The theorem does not apply if the axis of rotation inter-
Y
sects the generating area.
L
In the above figure:
A •
G B 1
r r Generating area = π r 2
2
X
X Distance travelled by the centroid of the area while the
r 4r
body is being generated = 2π × (circumference of a
3π
L
4r
circle of radius )
⋅

For example, in the above figure, the curved surface of a 3π

cylinder is obtained by rotating the line AB about the X-axis. 1 4r
\ Volume of the sphere generated = π r 2 × 2π ×
2 3π
4π r 3
= .
Theorem I 3
The area of a surface of revolution is equal to the product
of the length of the generating curve and the distance trav- Example 12
elled by the centroid of the curve while the surface is being A quartered-circular arc AB when rotated about the Y-axis
generated. generates a surface of area Ay. The same arc when rotated

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 Chapter 3  ■  Friction, Centre of Gravity, Moment of Inertia  |  3.41

about the X-axis generates a surface of area Ax. If the ratio Y

Ay
Ay : Ax is related to length r by equation = kr n , where k,
Ax
n are constants, then the value of k and n are
Y
100 mm

r r

A X

r
If the density of the material making up the circular cross-
section is 7800 kg/m3, the weight of the ring generated is
X
B (A) 82.6 N (B) 94.4 N
(C) 123.4 N (D) 90.6 N
(A) 0.27 and 0 (B) 0.27 and 1
(C) 3.75 and 0 (D) 3.75 and 1 Solution
y coordinate of the centroid of the circle = 100 mm = 0.1 m
Solution Area of the circle = p × (0.025)2
1 Distance travelled by the centroid of the circle while gen-
Length of the arc = π r
2 erating the ring = 2p × (0.1) (circumference of a circle of
radius 0.1 m)
2r
x coordinate of the centroid of the arc = 2r − Using Pappus–Guldinus theorem II,
π
Volume of the ring generated
Distance travelled by the centroid when the arc is rotated
= p × (0.025)2 × 2p × (0.1) = 0.001233 m3
2π × 2r(π − 1)
about the Y-axis = Weight of the generated ring
π
= 7800 × 0.001233 × 9.81 = 94.4 N.
Using Pappus–Guldinus theorem I,
Hence, the correct answer is option (B).
 2r  2π × 2r (π − 1)
Ay =  2r −  × = 2r 2π (π − 1)
 π  π
Area Moment of Inertia
2r In a plane region of area A, a differential area dA located at
y coordinate of the centroid of the arc = r −
π point (x, y) is considered as shown in the following figure.
Distance travelled by the centroid when the arc is Y Plane
region
2π × r(π − 2)
rotated about the X-axis = dA
π x
Using Pappus–Guldinus theorem I, Y
 2r  2π × r (π − 2) r
Ax =  r −  × = r 2π (π − 2)
 π  π
O X
Ay 2(π − 1)
∴ = kr n = The moment of inertia of the area about the X-axis and
Ax π −2 Y-axis are
2(π − 1)
⇒ n = 0 and k = . I x = ∫ y 2 dA and I y = ∫ x 2 dA
π −2 A A
Hence, the correct answer is option (C). Ix and Iy are also called ‘the second moments of the area’.

Example 13 Polar Moment of Inertia

A solid ring (torus) of circular cross-section is obtained by In the above figure, the polar moment of inertia of the area
rotating a circle of radius 25 mm about the X-axis as shown about the point O (actually, about an axis through the point
in the following figure. O, perpendicular to the plane of the area) is

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 3.42  |  Part III  ■  Unit 1  ■  Engineering Mechanics

Z
J o = ∫ r 2 dA
A
Jo = I x + I y
O
The above equation states that the polar moment of iner- X
tia of an area about a point O is the sum of the moments of
inertia of the area about two perpendicular axes that inter-
sect at O.
Y Plane region

Radius of Gyration NOTE

In the given figure, the radii of gyration of an area about the IOZ is also called as the polar moment of inertia and the
X-axis, Y-axis and the origin O are: axis OZ is called as the polar axis.
I Iy Jo
= x , ky =
k x= and ko Example 14
A A A
In the following figure, the axes AB and OX are parallel to
each other. If the moments of inertia of the rectangle PQRS
Parallel Axis Theorem along the axis AB, which passes through the centroid of the
The moment of inertia of a plane region area about an axis, rectangle, and the axis OX are IG and IX respectively, then
say AB, in the plane of area through the centre of gravity of the value of IX /IG is
the plane region area be represented by IG, then the moment Q R
of inertia of the given plane region area about a parallel
axis, say OX, in the plane of the area at a distance d from the
centre of gravity of the area is IX = IG + Ad2, A • B
G
Plane region,
area = A
O P S
X
A G B
(A) 4 (B) 12
(C) 3 (D) 0.25
d
Solution
From the parallel axis theorem, we have IX = IG + A (perpen-
dicular distance between axes)2.
O X
Let PQ = d and QR = b, then the perpendicular distance
Where d
between the axes = .
IX = Moment of inertia of the given area about the OX 2
axis
d2 d2
IG = Moment of inertia of the given area about AB axis ∴ I X = IG + A = I G + bd
A = Area of the plane region 4 4
d = Perpendicular distance between the parallel axes IX bd 3
AB and OX = 1+
IG 4 IG
G = Centre of gravity of the plane region
To determine IG, let us consider a rectangular strip of
thickness dy at a distance y from the axis AB as shown in
Perpendicular Axis Theorem the following figure.
If IOX and IOY are the moments of inertia of a plane region b
area about two mutually perpendicular axes OX and OY d
Q R 2
in the plane of the area, then the moment of inertia of the
dy d
plane region area IOZ about the axis OZ, perpendicular to y
A B
the plane and passing through the intersection of the axes
OX and OY is

I OZ = I OX + I OY P S −d
2

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 Chapter 3  ■  Friction, Centre of Gravity, Moment of Inertia  |  3.43

Area of the rectangular strip = bdy Z

Moment of inertia of the strip about the axis,
AB = (bdy)y2 O X

Moment of inertia of the rectangle PQRS about the axis AB,

d /2 Y
bd
IG = ∫ by 2 dy =
12
−d / 2 If the moments of inertia of the circular section along the
x, y, and z axes are IX, IY, and IZ respectively, then which
IX of the following is NOT correct?
∴ =4
IG
π d4
Hence, the correct answer is option (A). (A) I X = IX = IY
(B)
32

π d4 π d4
Example 15 (C) I Z = (D) IY =
32 64
The moment of inertia for the following hatched figure
about the axis AB (which passes through the centroid of the
figure), where AB = DC = 30 m, PQ = SR = 20 m, BC = AD Solution
= 20 m and QR = PS = 10 m, is
Z
A B

dr
P Q

r
O•
A B X

S R

D C Y

(A) 6.78 × 104 m4

Let us consider an elementary ring of thickness dr and
(B) 5.41 × 103 m4 located at a distance r from the origin O.
(C) 1.83 × 104 m4 Area of the elementary ring = 2prdr
(D) 2.6 × 105 m4 Moment of inertia of the elementary ring about the Z-axis
= 2prdr × r2 = 2pr3dr.
Solution Moment of inertia of the whole circular section about the
D/2
Moment of inertia of the hatched figure = moment of π d4
inertia of  ABCD – Moment of inertia of  PQRS
Z-axis = ∫ 2π r 3 dr =
32
0
1
= × (DC × AD3 – SR × QR3) From the symmetry of the circular section, it can be writ-
12 ten that IX = IY.
1 From the perpendicular axis theorem, we have,
= × (30 × 203 – 20 × 103)
12 IZ = IX + IY
= 18333.33 m4
Hence, the correct answer is option (C). i.e.,    IZ = 2IX

Example 16 π d4
A circular section of diameter d is lying on the xy plane ∴ IX = = IY .
64
where the centre of the circular section coincides with the
origin O as shown in the following figure. Hence, the correct answer is option (A).

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 3.44  |  Part III  ■  Unit 1  ■  Engineering Mechanics

Centre of Gravity
Description Shape L xc yc
Y

Horizontal line a a 0
2

X
a

Vertical line a 0 a
a 2

X
Y

Inclined line with q a  a  cosθ  a  sin θ

a    
 2  2
θ
X
Y

Semicircular arc pr 0 2r
π
]

r r

• CG
Quarter circular arc πr 2r 2r
y 2 π π
X
x
Y

α
Circular arc ar 2 r si n 0
2
α /2
X α
α /2

Y
b/ 2

Rectangle bh b h
h/2 c 2 2
X
b
Y

Square a2 a a
a 2 2
c

a X

(Continued)

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 Chapter 3  ■  Friction, Centre of Gravity, Moment of Inertia  |  3.45

(Continued)
Description Shape L xc yc
Y

b
c
Parallelogram a ab sin a b + a cos α a si n α
α 2 2

h
Triangle bh a+b h
2 3 3
a X
b

Y 4R
3π
R 4R
Semi circle π R2 0
•c
2 3π
O X

xc C
Quarter circle • πr2 4R 4R
yc
3π 3π
⋅

R X

α
Sector of a circle α
• X R2a 2 Rsinα 0
3 α
xc

π ab 4a 4b
Quarter ellipse b xc
• 4 3π 3π
yc
a X

Y
y 2 = kx

π ab 3a 3b
Quarter parabola xc
• b 3 5 5
yc
a X

Y y = kxn

General spandrel c b ab 3a 3b
xc • 3 4 4
yc
O a X

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 3.46  |  Part III  ■  Unit 1  ■  Engineering Mechanics

Moment of Inertia Centroid of Solids

Figure Ix Iy If dm is an elemental mass in a body of mass M and xG, yG
are the coordinates of the center of gravity of the body from
Y the reference axes Y-axis and X-axis respectively, then

b/2
xG =
∫ xdm = ∫ xdm , yG =
∫ ydm = ∫ ydm
X ab3 ba3
∫ dm M ∫ dm M
b/2 12 12
Let us consider a right-circular solid cone whose centre
of gravity is to be determined. Let the diameter of the base
a/2 a/2 of the right circular solid cone be 2R, and its height H as
Rectangle shown in the following figure.
Since the cone is symmetric about the VX axis, its centre
Y of gravity will lie on this axis. The cone can be imagined
to be consisting of an infinite number of circular discs with
different radii, parallel to the base.
X
r πr4 πr4
V
4 4
y
Circle C x D
dy H
F E

b
A X B
π ab3 π ba3
4 4 2R
a

Ellipse Consider one such disc of radius x, thickness dy and at a

depth y from the vertex of the cone, i.e., from V.
Y
From the geometry of the above figure:

x y yR
= = or x
C
R H H
h
X
bh3 hb3 y 2 R2
h/3 36 36
Volume of disc = π x 2 dy = π dy
H2
b If r is the density of the material making up the cone,
Triangle π y 2 R2
then dm = ρ dy
H2
4r
3π H
π y3 R2
∫ ydm = ∫ρ H2
dy
3 H 3
r ∴ yG = 0
= [ y] = H
dm H
π y 2 R2 4 0 4
C
x 0.0549 r4 0.0549 r 4
∫ρ H2
dy
0
4r
3π
\ Centroid or centre of gravity of a right circular cone
3
is situated at a distance of H from its vertex V and lies on
4
Quadrant circle its axis VX.

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 Chapter 3  ■  Friction, Centre of Gravity, Moment of Inertia  |  3.47

Example 17 For thin plates, essentially in the X-Y plane, the following
In the homogenous hollow hemisphere, shown in the fol- relations hold.
lowing figure, OP = 10 cm = The radius of the hemisphere.
I XX = ∫ y 2 dm
The points P, G, and O lie on a straight line that is perpen-
dicular to the base CD. If G is the centroid of the hollow
hemisphere, then which one of the following statements is IYY = ∫ x 2 dm
NOT correct?
I ZZ = ∫ z 2 dm = ∫ ( x 2 + y 2 )dm
P

= IXX + IYY
G• IZZ is also called the polar moment of inertia.

C O D Mass Moment of Inertia

3 and Radius of Gyration
(A) OG = 5 cm (B) OG = OP
8
I XX = K x 2 m
(C) CO = 10 cm (D) OD = 2 × OG
IYY = K y 2 m
Solution
I ZZ = K z 2 m
The centre of gravity of a hollow hemisphere with respect
to the X-axis would lie on a perpendicular axis along which I XX
Kx =
the homogeneous hemisphere is symmetrical. m
Since G is the centre of gravity, then the hemisphere IYY
should be symmetrical along OP, i.e., CO = OD. Ky =
m
It can also be deciphered that CO = OD = radius of the
hemisphere = OP = 10 cm. I ZZ
Kz =
Now, OG will be equal to R/2, where R is the radius of m
the hollow hemisphere.
The parallel-axis theorem for the mass moment of iner-
\ OG = 0.5 OP = 5 cm tia states that the mass moment of inertia with respect to
It can be written as OP = CO = OD = 2OG. Hence option any axis is equal to the moment of inertia of the mass with
(B) is NOT correct. respect to a parallel axis through the centre of mass plus
Hence, the correct answer is option (B). the product of the mass and the square of the perpendicular
distance between the axes.
NOTE Mathematically, IAB = IG + md2
Option (B) would be right if the hemisphere had been a For a thin plate,
homogeneous solid hemisphere.
I XX ( mass) = ρ tI XX ( area )
IYY ( mass) = ρ tIYY (area)
Mass Moment of Inertia
The moment of inertia of an element of mass is the product I ZZ ( mass) = ρ tI ZZ ( area )
of the mass of the element and the square of the distance of
the element from the axis. where, t is the uniform thickness and r is the mass of the
The mass moment of inertia of the body with respect to thin plate.
Cartesian frame xyz is given by: I ZZ = I XX + IYY
I XX = ∫ ( y2 + z 2 )dm =∫ ( y2 + z 2 ) ρ dv The mass moment of inertia about a centroidal axis per-
v pendicular to a uniform thin rod of length l, mass m and
IYY = ∫ ( x 2 + z 2 ) dm = ∫ ( x 2 + z 2 ) ρ dv small cross section is given by:
v 1
IYY = ml 2
I ZZ = ∫ ( x + y 2 )dm =∫ ( x2 + y 2 ) ρ dv, 12
v Radius of gyration about a centroidal axis perpendicular
where, IXX, IYY and IZZ are the axial moments of inertia of to a uniform thin rod of length l, mass m and a small cross-
mass with respect to X, Y and Z axes. section is given by:

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 3.48  |  Part III  ■  Unit 1  ■  Engineering Mechanics

l In the above case, if the three axes were chosen through

Ky = a corner instead the centre of mass, the results are:
12
1
The mass moment of inertia about the longitudinal and I XX = m(l 2 + b 2 )
3
transverse axes passing through the centre of mass of a
rectangular prism (block) of cross-section (axb), uniform 1
IYY = m( a 2 + b 2 )
density r and length l is given by: 3
1
1 I ZZ = m( a 2 + l 2 )
I XX = m(l 2 + b 2 ) 3
12
For a right-circular cylinder of radius R, length or height
l and mass m, the mass moment of inertia about the centroi-
1
IYY = m( a 2 + b 2 ) dal X-axis is given by:
12
1  R4 l 2 
I ZZ = m( a 2 + l 2 ) I XX = m  + 
12  4 12 

Solid Body Centroid Mass Moment of Inertia

Solid hemisphere
Z

xG = yG = 0
G 2 2
IXX = IYY = IZZ = mR
R 3 5
X zG = R
O 8

Solid sphere
Z

2 2
IXX = IYY = IZZ = mR
5
xG = yG = zG = 0
G R
X
O 2
Ky = R
5
Y

Solid cylinder

R
1 1
xG = yG = 0 IXX = IYY = mR2 + mL2
4 3
L G L
zG =
2 1
IZZ = mR2
2
O

(Continued)

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 Chapter 3  ■  Friction, Centre of Gravity, Moment of Inertia  |  3.49

(Continued)
Solid Body Centroid Mass Moment of Inertia
Rectangular Block (cuboid)
Z
b
a
1 1
I XX = ma2 + mL2
12 3
xG = yG = 0
1 1
L G I YY = mb 2 + mL2
L 12 3
zG =
2
O 1
IZZ = m( a2 + b2)
12
X

Slender rod (thin cylinder)

O
L IXX = 0
L xG =
2
mL2
Y yG = zG = 0 IYY = IZZ =
G 3

Solid disk
Z mR 2
IYY = IYY =
4

mR 2
xG = yG = zG = 0 IZZ =
R 2
X
O r
kZ =
2

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 3.50  |  Part III  ■  Unit 1  ■  Engineering Mechanics

Exercises

1. 4.
25 cm 50 cm

B C
A

B
150 N
r = 0.25 m
A
300 N
45°
P

30°

Two blocks A and B weighing 300 N and 150 N respec-

A rotating wheel is braked by a belt AB attached to
tively are placed on a rough inclined plane of angle 30°
the lever ABC hinged at B. The coefficient of friction
and connected through a string over a pulley as shown
between the belt and the wheel is 0.5. The braking
in the figure. Coefficient of friction of the contact sur-
moment exerted by the vertical weight W = 200 N is
faces are 0.25. Force P required on block A for impend-
(A) 98.23 Nm (B) 85.96 Nm
ing motion of the blocks is
(C) 95.00 Nm (D) 93.24 Nm
(A) 22.43 N (B) 25.24 N
2. A locomotive of weight W is at rest. The reactions at A (C) 28.62 N (D) 30.14 N
and B are 5. Angle of the inclined plane is increased to 20° and
the connecting string is removed. If the coefficients
C of kinetic friction for blocks A and B are 0.1 and 0.35
P respectively, the frictional forces on A and B are
b
(A) 46.1 N, 369 N
(B) 49.44 N, 398 N
(C) 52.14 N, 404 N
A a a B (D) 56.48 N, 410 N
W
6.
RA RB
3N
W N
(A) (B) 2W N
1 kg

2
2
(C) W N (D) 3WN
3
A body of mass 1 kg is resting on a plane surface as
3. When it is pulling a wagon, the draw bar pull P is just shown in the figure. A force of 3 N is gradually applied
equal to the total friction at the points of contact, A and on one side as shown. Coefficient of static friction is
B. The new magnitudes of the vertical reactions at A 0.35 and coefficient of kinetic friction is 0.3. The fric-
and B respectively are tion force acting is
(A) 3.4335 N (B) 2.943 N
Wa − Pb , Wa + Pb
(A) (C) 3 N (D) 0 N
2a 2a
7. P
W W
(B) ,
2 2a
W W
(C) ,
2 3 100 N
200 kg
W 2
(D) , W
2 3

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 Chapter 3  ■  Friction, Centre of Gravity, Moment of Inertia  |  3.51

A body of mass 200 kg rests on a horizontal surface as (A) increase by 3 times (B) increase by 9 times
shown in the figure. Coefficient of friction between the (C) decrease by 3 times (D) decrease by 9 times
body and surface is 0.2. If a horizontal pull of 100 N 12. The rate of change of velocity and the rate of change of
can be exerted on the body, the vertical force P required momentum of a moving body respectively are
to move the body is (A) acceleration and impulse
(A) 1462 N (B) 1418 N (B) acceleration and force
(C) 1360 N (D) 1322 N (C) displacement and force
(D) force and displacement
Direction for questions 8 and 9: 13. In the equation of virtual work, which of the following
force is neglected?
(A) Reaction at any smooth surface with which the
body is in contact.
(B) Reaction of rough surface of a body which rolls on
C it without shipping.
B 150 N (C) Reaction at a point on an axis fixed in space,
around which a body is constrained to turn.
A 200 N (D) All of these
P
14. B

Block A weighing 200 N is placed on plane floor and block

B weighing 150 N is placed over block A. Block B is con-
strained by a string C and a force P is applied on block A 5m
as shown in figure. For the contact surfaces, coefficient of
static friction is 0.3 and coefficient of kinetic friction is 0.25.
8. The smallest force P required to start block A moving is
A 2m
(A) 143 N (B) 150 N
(C) 156 N (D) 160 N
A uniform ladder of length 5 m and weight 250 N is
9. If a force P of 160 N is applied, the resultant friction placed against a smooth vertical wall with its lower end
forces exerted on block A is 2 m from the 00wall. Coefficient of friction between
(A) 110 N (B) 120 N floor and ladder is 0.25. Friction at the wall may be
(C) 125 N (D) 150 N neglected. Frictional force at A, the bottom of ladder is
10. (A) 54.56 N (B) 62.54 N
(C) 68.36 N (D) 72.43 N
15. P
A

B
90 N
100 N
200 kg

30°

Refering to the figure given above, coefficient of fric-

A body of mass 200 kg rests on a horizontal surface as
tion for all surfaces of contact is 0.3. The minimum
shown in the figure. Coefficient of friction between the
weight of block A required to keep block B in position is
body and surface is 0.2. If a horizontal pull of 100 N
(A) 35.6 N (B) 38.4 N
can be exerted on the body, the vertical force P required
(C) 41.6 N (D) 44.5 N
to move the body is
11. If the momentum of a given body is tripled, its kinetic (A) 1462 N (B) 1418 N
energy will (C) 1360 N (D) 1322 N

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 3.52  |  Part III  ■  Unit 1  ■  Engineering Mechanics

Previous Years’ Questions

1. A block weighing 981 N is resting on a horizontal the block attained after 10 seconds is _________.
surface. The coefficient of friction between the block  [GATE, 2014]
and the horizontal surface is m = 0.2. A vertical cable 4. A body of mass (M) 10 kg is initially stationary on a
attached to the block provides partial support as 45° inclined plane as shown in figure. The coefficient
shown. A man can pull horizontally with a force of of dynamic friction between the body and the plane
100 N. What will be the tension, T (in N) in the cable is 0.5. The body slides down the plane and attains a
if the man is just able to move the block to the right? velocity of 20 m/s. The distance travelled (in metre)
 [GATE, 2009] by the body along the plane is _______.
T  [GATE, 2014]

100 N
G 45°

μ = 0.2

5. A wardrobe (mass 100 kg, height 4 m, width 2 m,

depth 1 m), symmetric about the Y-Y axis, stands on
(A) 176.2 (B) 196.0
a rough level floor as shown in the figure. A force P
(C) 481.0 (D) 981.0
is applied at mid-height on the wardrobe so as to tip
2. A block R of mass 100 kg is placed on a block S of it about point Q without slipping. What are the mini-
mass 150 kg as shown in the figure. Block R is tied mum values of the force (in newton) and the static
to the wall by a massless and inextensible string PQ. coefficient of friction m between the floor and the
If the coefficient of static friction for all surfaces is wardrobe, respectively? [GATE, 2014]
0.4, the minimum force F (in kN) needed to move the
block S is  [GATE, 2014]
Y

P Q
R 2m

4m
S F P

(A) 0.69 (B) 0.88

(C) 0.98 (D) 1.37 Q

3. A block weighing 200 N is in contact with a level Y

plane whose coefficients of static and kinetic friction
are 0.4 and 0.2 respectively. The block is acted upon (A) 490.5 and 0.5 (B) 981 and 0.5
by a horizontal force (in newton) P = 10t, where t (C) 1000.5 and 0.15 (D) 1000.5 and 0.25
denotes the time in seconds. The velocity (in m/s) of

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 Chapter 3  ■  Friction, Centre of Gravity, Moment of Inertia  |  3.53

Answer Keys

Exercises
 1. B 2. A 3. A 4. A 5. A 6. C 7. A 8. B 9. C 10. C
11. B 12. B 13. D 14. A 15. A

Previous Years’ Questions

1. C 2. D 3.  4.8 to 5 4.  56 to 59 5. A

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 Chapter 4

Rectilinear Motion

Chapter HIGHLIGHTS

☞☞ Introduction ☞☞ Kinetics of a particle

☞☞ Types of motion ☞☞ Dynamics of a particle
☞☞ Rectilinear motion ☞☞ Momentum and impulse
☞☞ Motion at a uniform acceleration ☞☞ Moment and couple
☞☞ Vertical motion under gravity ☞☞ Work and energy
☞☞ Motion under variable acceleration ☞☞ Ideal systems—conservation of energy
☞☞ Relative velocity

Introduction If the path traced by the motion (or path traversed by

the particle) is a curve, it is known as curvilinear motion.
Dynamics When the curve becomes a circle, then it is known as cir-
Dynamics is the branch of mechanics dealing with the cular motion.
motion of a particle or a system of particles under the action The two types of motion, i.e., rectilinear and curvilinear
of a force. Dynamics is broadly divided into two categories: motions, explained above, can be together termed as the gen-
1.
Kinematics eral plane motion.
2.
Kinetics
Kinematics is the study of motion of a body without any
Rectilinear Motion
reference to the forces or other factors which causes the Displacement, Distance, Velocity
motion. Kinematics relates displacement, velocity and and Acceleration
acceleration of a particle of system of particles.
Kinetics studies the force which causes the motion. It
Displacement and Distance
relates the force and the mass of a body, and hence the A B
motion of the body. So, the motion of a particle or body is x x
largely covered and interpreted by Kinematics and Kinetics. x
Let the particle be at the position A at any point of time t. Let
Types of Motion the position of the particle be at B at time t + dt (dt > 0). Then
The rate of change of position is motion. The type of motion the particle is said to move from A to B. The change in posi-
is explained by the type of path traced by it. If the path traced tion is the displacement x. It is the shortest distance between
is a straight line, the motion is said to be rectilinear motion A and B. ­Distance is the length of the path described by the
or translation. particle from point A to point B.

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 Chapter 4  ■  Rectilinear Motion  |  3.55

R Average Acceleration
x
The average acceleration a­av of a point P, in the time inter-
z
val between t + Dt and t, i.e., in the time interval Dt, during
P y Q
which its velocity changes from v to v + Dv is defined by
∆v
a = .
av ∆t
Let a body start from a point P and move towards a point
Q, and then turn and reach at point R. During this course of
motion, the total displacement is denoted by x. The distance
Instantaneous Acceleration
traversed is given by y + z. The instantaneous ­acceleration of a point P is the limiting
value of the average acceleration as the increment of time
NOTE approaches zero. Mathematically it can be expressed as:
When the motion of a particle is considered along a line ∆v dv
a = lim =
segment, both distance and displacement are the same in ∆t → 0 ∆t dt
magnitudes. dv d2x
a= =
dt dt 2
Motion can also be defined as the change in the position
of a body with respect to a given object. The position of a dv dv dx dv
a= = × = × v.
point P at any time t is expressed in terms of the distance x dt dx dt dx
from a fixed origin O on the reference X-axis or Y-axis or Acceleration is positive when velocity is increasing. A posi-
Z-axis, and can be taken as positive or negative as per the tive acceleration means that the particle is either moving
usual sign convention. further in a positive direction or is slowing down in the
negative direction.
X2 X
Retardation or deceleration of a body in motion is the neg-
X1 ative acceleration, i.e., retarding acceleration. Acceleration
−x • • • • is the rate of increase in the velocity and deceleration is the
P2 O P1 P+x
rate of decrease in the velocity.
Average Velocity Uniform motion: When a particle moves with a constant
velocity so that its acceleration is zero, then the motion is
The average velocity vav of a point P, in the time interval
termed as uniform motion.
between t + Dt and t, i.e., in the time interval Dt, during
which its position changes from x to x + Dx is defined by Uniformly accelerated motion: When a particle moves
with a constant acceleration, then the motion is termed as a
∆x
vav = . uniformly accelerated motion.
∆t
t t + Dt
x Dt
Motion at a Uniform
Acceleration
• • •
O P P1 Let the uniform acceleration be ‘a’. Then,
v = u + at
Instantaneous Velocity and Speed v2 = u2 + 2as
The instantaneous velocity v of a point P at time t is the 1 22
s = ut + atgt
limiting value of the average velocity as the increment of 2 1
time approaches zero as a limit. Mathematically it can be 1 2
sn = u + a(n – )gt
expressed as: 2 1
Where
Limit ∆x dx
v= = . v = Velocity at any time instant t (seconds)
∆t → 0 ∆t dt u = Initial velocity
The velocity v is positive if the displacement x is increasing s = Distance travelled during the time t (seconds)
and the particle is moving in a positive direction. The unit of sn = Distance travelled at the nth second
velocity is metre per second (m/s).
If s is the distance covered by a moving particle at NOTE
ds For motion under constant retardation or deceleration,
time t, then speed = . The unit of speed is the same as
dt assign negative sign for acceleration (a).
that of the velocity.

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 3.56  |  Part III  ■  Unit 1  ■  Engineering Mechanics

Vertical Motion under Gravity Solution

Applying the principle of vector, the magnitude of the
A body in motion above the ground will be under influence  
of the gravitational force of attraction (g). If the body moves resultant between v1 + v2 .
upwards, then it is subjected to gravitational retardation,   
Given that v1 + v2 = v1
i.e., a = –g. Then, the equations for the upward motion of a
  2 
body under gravity will be: v1 + v2 = v12
v = u – gt      
v2 = u2 – 2gs (v1 + v2 ) ⋅ (v1 + v2 ) = v1 ⋅ v1
1 22        
s = ut – gt gt v1 ⋅ v1 + 2 v1 ⋅ v2 + v2 ⋅ v2 = v1 ⋅ v1
2 1    
 1 2 v1 ⋅ v2 + v2 ⋅ v2 = 0
sn = u – g  n −    
 2 (2v1 + v2 ) ⋅ v2 = 0.
If the body moves downwards, then it is subjected to grav- Dot product zero means the new resultant between 2v1 and
itational attraction, and hence an acceleration, i.e., a = g. v2 is at right angles to v2.
Then, the equations for the downward motion of a body
Hence, the correct answer is option (A).
under gravity will be:
v = u + gt
Example 2
v2 = u2 + 2gs
If the two ends of a train, moving with a constant accelera-
1 22
s = ut + gt gt tion, pass a certain point with velocities u and v respectively,
2 1 the velocity with which the middle point of the train passes
 1 through the same point is
sn = u + g  n − 
 2
u+v u2 + v2
NOTES (A) (B)
2 u+v
1. For a body that is just dropped, a = g and u = 0.
2. The final vertical velocity of a body thrown upwards as u2 + v2
(C) u – v (D)
it reaches the maximum height, will be zero, i.e., v = 0. 2

Solution
Motion curves: These are the graphical representation of
displacement, velocity and acceleration against time. We have the relation:
a
v2 = u2 + 2as(1)
If V is the velocity with which the mid-point of the train
a
v
crosses the point, we have:
s
dv V2 = u2 + 2a  (2)
v dt
s
2
Eliminating s from Eqs. (1) and (2):
ds
s
dt V2 – u2 = as
v2 – u2 = 2as
t
V 2 − u2 1
Considering the general case of acceleration not being a =
constant, the above graphical representation is made. v2 − u2 2
•• The slope of the displacement-time curve—Velocity 2V – 2u = v2 – u2
2 2

•• The slope of the velocity-time curve—Acceleration 2V2 = v2 + u2

•• The area under the velocity-time curve—Displacement v2 + u2
•• The area under the acceleration-time curve—Velocity V2 =
2

SOLVED EXAMPLES v2 + u2
∴V = .
2
Example 1
Hence, the correct answer is option (D).
A particle has two velocities v1 and v2. Its resultant is v1 in
magnitude. When the velocity v1 is doubled, the new resultant is Direction for solved examples 3 and 4:
(A) perpendicular to v2 (B) parallel to v2 The motion of a particle is defined as s = 2t3 – 6t2 + 15,
(C) equal to v2 (D) equal to 2v2 where s is in metres and t is in seconds.

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 Chapter 4  ■  Rectilinear Motion  |  3.57

Example 3 Example 6
The acceleration when the velocity is zero, is A particle is moving in a straight line starting from rest. Its
(A) 12 m/s2 (B) 8 m/s2 acceleration is given by the expression a = 50 – 36t2, where
2
(C) 6 m/s (D) 4 m/s2 t is in seconds. The velocity of the particle when it has trav-
elled 52 m can be
Solution (A) 2.3 m/s (B) 4 m/s
(C) 6.7 m/s (D) 8 m/s
s = 2t3 – 6t2 + 15
ds Solution
= 6t2 – 12t
dt a = 50 – 36t2
ds 2 dv
a= = 12t − 12 = 50 – 36t2
dt 2 dt
dv = 50dt – 36t2 dt
When velocity is zero,
t3
6t2 – 12t = 0, ∴ t = 2 seconds Integrating the above equation, we have: v = 50t – 36 +
C = 50t – 12t3 + C. 3
Then acceleration is, a = 12 × 2 – 12 = 12 m/s2
When t = 0, v = 0
Hence, the correct answer is option (A).
∴ C=0

Example 4 \ v = 50t – 12t3

ds
The minimum velocity is = 50t – 12t3
(A) –2 m/s (B) 6 m/s dt
t2 t4
(C) –6 m/s (D) 2 m/s Integrating, s = 50 – 12 + C1
2 4
= 25t2 – 3t4 + C1
Solution
dv When t = 0, s = 0
Also, velocity is minimum when = 0, i.e., when 12t – 12 ∴ C1 = 0
= 0, dt
s = 25t2 – 3t4
∴ t = 1 sec
Here, we can find the time when s = 52 m.
(velocity)min = 6t2 – 12t = 6 – 12 = –6 m/s.
∴ 25t2 – 3t4 = 52
Hence, the correct answer is option (C). Let t2 = u, then 25u – 3u2 = 52
Example 5 3u2 – 25u + 52 = 0
The velocity of a particle along the X-axis is given by 25 ± 625 − 624
u=
v = 5x3/2, where x is in metres and v is in m/s. 6
The acceleration when x = 2 m is 25 ± 1 26 24
u= = or
(A) 300 m/s2 (B) 200 m/s2 6 6 6
2
(C) 180 m/s (D) 150 m/s2
24
Case 1: When t2 = =4
Solution 6
Given, v = 5x3/2, differentiating with respect to t, we have: ∴ t = 2 seconds
dv 3  dx  v = 50t – 12t3
= 5 × x3/2 – 1  
dt 2  dt  = 50 × 2 – 12 × 8
15 1/2 dx dx = 100 – 96 = 4 m/s
= x , but =v
2 dt dt
26
15 1/2 75 2 Case 2: When t2 = = 4.333
\a= x × 5 x3/2 = x 6
2 2 ∴ t = 2.08 seconds
75 The value of the velocity calculated with this t value is not
When x = 2, a = × 4 =150 m/s2.
2 available in the options provided.
Hence, the correct answer is option (D). Hence, the correct answer is option (B).

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 3.58  |  Part III  ■  Unit 1  ■  Engineering Mechanics

Example 7 Falling with an initial velocity u, it covers the window 2 m

5 high in 0.5 seconds.
A body dropped from a certain height covers of the total 1 22
9 s = ut + at gt
height in the last second, the height from which the body is 2 1
dropped is: 1 2
2 = u × 0.2 + gt × 9.81 × 0.22
(A) 36.8 m (B) 40.3 m 2 1
(C) 44.1 m (D) 50.6 m 1 2
2 = 0.2u + gt × 9.81 × 0.04
2 1
Solution
2 = 0.2u + 9.81 × 0.02
Let ‘h’ be the height and let ‘n’ be the time taken for the
fall. Then, u = 9.019 m/s;
 1 From Eq. (1), u2 = 2gh,
s = u + ga n − 
 2 9.0192
∴h = = 4.145 m.
5  1 29.81
h = 0 + g n −  Hence, the correct answer is option (A).
9  2
5  1
h = g  n −  (1) Example 9
9  2
A ball is projected vertically upwards with a velocity of 49
1 22
Also, h = un + an gt1 m/s. If another ball is projected in the same manner after
2 2 seconds, and if both meet t seconds after the second ball is
1 22 projected, then t is equal to:
h = 0 + gn gt  (2)
2 1 (A) 3 seconds (B) 10 seconds
Putting (2) in (1), (C) 5 seconds (D) 6 seconds
5 1 22  1
× gt gn1 = g  n −  Solution
9 2  2
Let both the balls meet T seconds after the first ball is pro-
\ 5n2 – 18n + 9 = 0 jected. Therefore, when the balls meet,
5n2 – 15n – 3n + 9 = 0 1 22
gt ,
for the first ball: h = 49 × T – gT
5n(n – 3) – 3(n – 3) = 0 2 1
\ (5n – 3)(n – 3) = 0 1 2
gt – 2)2
for the second ball: h = 49 × (T – 2) – g(T
3 2 1
\n= or n = 3, but n > 1
5 1 22
∴ n=3 Equating 49T – gt = 49(T – 2)
gT
2 1
1 22 1 2 1 2
∴ h = gn gt = gt × 9.81 × 9 = 44.1 m. – g(Tgt – 2)2
2 1 2 1 2 1
Hence, the correct answer is option (C). ∴ T = 11.99 sec
∴ t = T – 2 = 9.99 sec ≈ 10 seconds
Example 8
Hence, the correct answer is option (B).
A stone falls past a window 2 m high in a time of 0.2
seconds. The height above the window from where the stone Example 10
has been dropped is
Two bodies are uniformly moving towards each other. The
(A) 4.15 m (B) 5.23 m distance between them decreases at a rate of 6 m/s. If both
(C) 5.87 m (D) 6.32 m the bodies move in the same direction at the same speeds,
then the distance between them increases at a rate of 4 m/s.
Solution
A
The respective speeds of the bodies are
(A) 3 m/s and 1 m/s (B) 5 m/s and 1 m/s
h
(C) 4 m/s and 2 m/s (D) 3 m/s and 5 m/s
window
Solution
The stone is dropped from A. Let the body reach the top of Let u and v be the velocities of the bodies. From the state-
the window with a velocity of u m/s. Then, ment of the problem,
u2 = 02 + 2gh u+v=6
u2 = 2gh  (1) u–v=4

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 Chapter 4  ■  Rectilinear Motion  |  3.59

∴ u = 5 m/s and v = 1 m/s. Solution

Hence, the correct answer is option (B). Given that f = 10 – 0.006x2
dv
Example 11 = 10 – 0.006x2
dt
Two cars are moving in the same direction each at a speed
of 45 km/h. The distance separating them is 10 km. Another dv dx
⋅ = 10 – 0.006x2
vehicle coming from the opposite direction meets these two dx dt
cars in an interval of 6 minutes. The speed of the vehicle is dv
v⋅ = 10 – 0.006x2
(A) 45 km/h (B) 50 km/h dx
(C) 55 km/h (D) 60 km/h v dv = (10 – 0.006x2)dx Integrating
v2 x3
Solution = 10x – 0.006 +C
2 3
The distance between the cars moves with a velocity of 45
when x = 0, v = 0
km/h. If the speed of the vehicle is u, then its velocity rela-
tive to the moving distance is 45 + u m/s. ∴ C=0
It takes 6 minutes to cover the distance of 10 km. v2 x3
= 10x – 0.006
6 2 3
∴ (45 + u) × = 10
60 v = 20x – 0.004x
2 3
∴ 45 + u = 100
when v = 0; 20x – 0.004x3 = 0
u = 55 km/h. ∴ 0.004 x2 = 20 (note that the solution of x = 0 is also possi-
Hence, the correct answer is option (C).
ble for the above equation, but the value of x > 0 is sought for)
∴ x = 70.7 m
Motion under Variable Hence, the correct answer is option (A).
Acceleration
In practical conditions, a body may very often move with Direction for solved examples 13 and 14:
variable acceleration. The rate of change of velocity will not An electric train starting from rest has an acceleration f in
remain constant. We know that acceleration, m/s2 which vary with time as shown in the following table.
dv dv ds t (secsnd) 0 6 12 18
a = = ⋅
dt ds dt f (m/s2) 12 10 9.5 8
dv
or, a=v ⋅
ds Example 13
Also, when displacement can be expressed as a third
The velocity at the end of the first 6 seconds is
degree or higher degree equation in time, the acceleration
becomes a variable with respect to time. (A) 18 m/s (B) 27 m/s
(C) 43 m/s (D) 66 m/s
For example, if s = 4t3 + 3t2 + 5t + 1
= 12t2 + 6t + 5 Solution
During the first 6 seconds, the average acceleration
= 24t + 6
12 + 10
The velocity and displacement are evaluated by = = 11m/s2.
2
integration.
∴ Increase in velocity during this interval of 6 seconds =
average acceleration × 6 = 66 m/s.
Example 12
∴ Velocity at the end of 6 second = 66 m/s.
A body is starting from rest and moving along a straight line
whose acceleration is given by f = 10 – 0.006x2, where x is Hence, the correct answer is option (D).
the displacement in m and f is the acceleration in m/s2. The
Example 14
distance travelled by it when it comes to rest is
The distance travelled during these 6 seconds is
(A) 70.7 m (B) 68.3 m
(A) 242 m (B) 218 m
(C) 62.6 m (D) 58.5 m
(C) 198 m (D) 124 m

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 3.60  |  Part III  ■  Unit 1  ■  Engineering Mechanics

Solution t4 t3
Average velocity during this interval Integrating, v = –3 + 5t + c at
4 3
0 + 66 t = 1 second,
= = 33 m/s
2 v = 6.25 m/s
∴ Distance travelled during this interval 1
i.e., 6.25 = –1+5+c
= 33 × 6 = 198 m 4
Hence, the correct answer is option (C). = 4.25 + c
∴ c=2
Example 15 t4
∴ v= – t 3 + 5t + 2
At any instant, the acceleration of a train starting from rest 4
10 ds t4
is given by f = , where u is the velocity of the train in = – t 3 + 5t + 2
u +1 dt 4
m/s. The distance at which the train will attain a velocity of t5 t4 t2
Integrating, s = – +5 ⋅ + 2t + c,
54 km/h, is: 20 4 2
(A) 123.7 m (B) 185.4 m at t = 1, s = 8.3 m
(C) 214.4 m (D) 228.2 m 1 1 5
8.3 = – + + 2 + c,
20 4 2
Solution 1
8.3 = + 4.25 + c,
10 20
It is given, f = c = 8.3 – 4.25 – 0.05 = 4.05 – 0.05 = 4
u +1
t5 t4 t2
du 10 s= – +5 ⋅ + 2t + 4
u⋅ = 20 4 2
dx u + 1 s at t = 2 seconds is
u(u + 1)du = 10dx 32 16
s= - + 10 + 4 + 4
u3 u 2 20 4
Integrating we have, + = 10x + c
3 2 32
= + 14 = 15.6 m.
when x = 0, u = 0. ∴ c = 0 20
u3 u 2 Hence, the correct answer is option (B).
+ = 10x
3 2
when u = 54 km/h = 54 × 5/18 = 15 m/s Example 17
153 152 In the figure shown, AB is the diameter ‘d’ of the circle and
+ = 10x AC is the chord of the same circle making an angle α with
3 2
1125 + 112.5 = 10x AB. Two particles are dropped from rest one along AB and
the other along AC. If t1 is the time taken by the particle to
∴ x = 123.7 m.
slide along AB and t2 is the time taken to slide along AC,
Hence, the correct answer is option (A).
then t1: t2 is
A
Example 16
The motion of a particle is given by the equation a = t3 –
α
3t2 + 5, where ‘a’ is acceleration in m/s2 and t is time in
seconds. It is seen that the velocity and displacement of the
particle at ‘t’ = 1 sec are 6.25 m/s and 8.3 m, respectively. C
Then the displacement at time t = 2 seconds, is B

(A) 17.3 m (B) 15.6 m (A) 1 : cos a (B) 1 : sec a

(C) 14.8 m (D) 12.6 m (C) 1 : 1 (D) 1 : 15

Solution Solution
Given a = t3 – 3t2 + 5 Let AB = l, AC = l cos a.
dv 3 Consider sliding along AC,
= t – 3t2 + 5
dt acceleration is g cos a

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 Chapter 4  ■  Rectilinear Motion  |  3.61

D
1 22
s = ut + gt
at v1 A
2 1 v1
1
l cos a = 0 + g cos a t22 C
2
v2 O B
v2
2l 2l
∴ t22 =  or  t 2 =
g g 
The vector OD gives both the magnitude and direction
Consider sliding along AB,
of the velocity of A relative to B.
1
l = 0 + gt12 Another method is to resolve their velocities into their
2 components with sign. Then evaluate the relative velocity
2l in the x-direction and in the y-direction. Find their result-
t1 = ant vector. This vector will be the relative velocity, both in
g
magnitude and in direction.
∴ t1 : t2 = 1 : 1
Hence, the correct answer is option (C). Example 18
A train has a mass of 200 tonne. If the frictional resistance
Relative Velocity amounts to 55 N per tonne, what steady pull must the loco-
The motion of one body with respect to another moving motive exert in order to increase the speed on a level road
body is known as relative motion. from 32 to 64 km/h within 1.5 minutes?
Take the case of two bodies P and Q moving along the
same straight line. The position of the bodies is specified Solution
with reference to an origin O. Considering the motion of the locomotive:
xP and xQ are measured from the origin O. The difference 32 × 5 80
xQ – xP defines the relative position of Q with respect to P. u = 32 km/h = = m/s
18 9
It is denoted as: v = 64 km/h
xQ/P = xQ – xP 64 × 5 160
= = m/s
∴ xQ = xP + xQ/P. 18 9
Consider the rate of change of displacement, then: t = 1.5 min = 90 seconds
O P Q Let a = acceleration of the locomotive
x x x
xP v = u + at
xQ
160 80 8
vQ/P = vQ – vP ⇒ = + 90a ⇒ a = m/s2
9 9 81
∴ vQ = vP + vQ/P Now, accelerating force,
Similar relations hold good for acceleration also, i.e., Fa = mass × acceleration
200 × 1000 8
∴ aQ = aP + aQ/P   = × N = 19753 N
1 81
Working Rule Also frictional resistance to overcome;
Let two particles A and B move with velocities v1 m/s and Fr = 200 × 55 = 11000 N
v2 m/s, respectively, in directions as shown in the following By D’ Alembaert’s principle for equilibrium.
figure. Total pull of the locomotive,
vA = v1 m/second
P = Fa + Fr = 19753 + 11000 = 30753 N.

Example 19
vB = v2 m/second A vessel which can steam in still water with a velocity of 48
km/h is steaming with its bow pointing due east. It is carried
If we want to find out the velocity of A relative to B, the by a current which flows northward at a speed of 14 km/h.
velocity of B is to be made zero. For that, we provide veloc- The distance it would travel in 12 minutes is
ity v2 in the reverse direction of OB and find the vector sum (A) 14 km (B) 12 km
with v1 = OA. (C) 10 km (D) 8 km

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 3.62  |  Part III  ■  Unit 1  ■  Engineering Mechanics

Solution Example 21
To find the velocity of the steamer relative to the flow, the A boat weighing 45 kg is initially at rest. A boy weighing 32
flow velocity is reversed and vector sum is found. kg is standing on it. If he jumps horizontally at a speed of 2
m/s relative to the boat, the speed of the boat is:
N
(A) 2 m/s (B) 3.42 m/s
14 km/h (C) 4.92 m/s (D) 5.36 m/s
48 km/h
E
Solution
14 km/h Given vA/B = 2 m/s
It is the relative velocity of the boy with respect to the boat.
vA/B = vA – vB
Relative velocity = 482 + 14 2
2 = vA – vB
= 50 km/h
∴ vA = 2 + vB
12
Distance after 12 minutes = 50 × = 10 km By conservation of momentum:
60
Hence, the correct answer is option (C). 0 = 32(2 + vB) – 45vB = 64 – 13vB
∴ vB = 4.92 m/s
Hence, the correct answer is option (C).
Example 20
A man keeps his boat at right angles to the current and
Example 22
rows across a stream 0.25 km broad. He reaches the oppo-
site bank 0.125 km below the point opposite to the starting A stream of water flows with velocity of 1.5 km/h. A swim-
point. If the speed of the boat in rowing alone is 6 km/h, the mer swims in still water with a velocity of 2.5 km/h. If the
speed of the current is breadth of the stream is 0.5 km, the direction in which the
swimmer should swim so that he can cross the stream per-
(A) 5 km/h (B) 4 km/h
pendicularly is:
(C) 3 km/h (D) 2 km/h
(A) 26° with the vertical
Solution (B) 29.4° with the vertical
The speed required for reaching the opposite side is the (C) 32.5° with the vertical
rowing velocity of 6 km/h. Due to the velocity of the current (D) 36.8° with the vertical
by the time, the boat can cross the stream with its absolute
velocity. It flows down 0.125 km due to the speed of the Solution
current.
0.25 A
Time needed for crossing the stream = = 0.04166 hour.
6 2.5 km/h 1.5 km/h
Let the stream velocity be v m/s.
∴ Resultant speed = v 2 + 62 0.5 km
q

A 0.125 km 1.5 km/h O

The swimmer must swim in the direction OA with velocity

0.25 km 2.5 m/s so that he can cross the stream at right angles.
From geometry, 2.5 sinθ = 1.5
O 1.5
∴ sinθ = = 0.6
2.5
The distance covered by the boat within this time is:
θ = 36.8°.
OA = 0.252 + 0.1252 Hence, the correct answer is option (D).

∴ 0.04166 × v 2 + 62 = 0.252 + 0.1252

Example 23
∴ v = 3 km/h An airplane is flying in a horizontal direction with a velocity
Hence, the correct answer is option (C). of 1800 km/h. At a height of 1960 metres, when it is above a

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 Chapter 4  ■  Rectilinear Motion  |  3.63

point A on the ground, a body is dropped from it. If the body Example 25
strikes the ground at point B, then the distance AB is A particle is accelerated from (1, 2, 3), where it isat rest,
 
(A) 18 km (B) 15 km according to the equation a = 6t i – 24t2 j + 10 k m/s2,
(C) 10 km (D) 8 km   
where i , j and k are unit vectors along the X, Y and Z
axes. The magnitude of the displacement after the lapse of
Solution
1 second is
The time taken by the body to fall down the distance 1960
m is: (A) 5 m (B) 30 m
1 (C) 6 m (D) 47 m
h = gt122
2
1 2 2 Solution
  
1960 = 9.8gt t It is given that a = 6t i – 24t2 j + 10 k
2 1   
∴ v = 3t2 i – 8t3 j + 10t k + c
2 × 1960 2
=t when t = 0, v = 0 ∴ c = 0
9.8   
400 = t2; t = 20 sec ∴ v = 3t2 i – 8t3 j + 10t k
1800 dx   
AB = v × t = × 20 = 10 km = 3t 2 i − 8t 3 j + 10tk
60 × 60 dt
Hence, the correct answer is option (C).
t3  t4  t2 
x=3 i − 8 j + 10 k + C
Example 24 3 4 2
  
Two ships leave a port at the same time. The first ship ‘A’ x = t i − 2t j + 5t k + C
3 4 2

steams north-west at 32 km/h, and the second ship ‘B’ 40°

south of west at 24 km/h. The time after which they will be when t = 0, position of the particle is at (1, 2, 3) i.e., at t =
  
160 km apart is 0, x = 1i + 2 j + 3k
  
(A) 2.15 hours (B) 2.86 hours \ C = 1i + 2 j + 3k
     
(C) 3.46 hours (D) 4.19 hours \ x = t 3 i − 2t 4 j + 5t 2 k + 1 i + 2 j + 3 k
  
    = (t 3 + 1) i − ( 2 − 2t 4 ) j + (3 + 5t 2 ) k
Solution When t = 1,
 
Let us find the velocity of the second ship relative to the x = 2 i +8 k
first ship. For that, consider the velocity of the first ship
\ Displacement vector
in the reverse direction and evaluate the vector sum of the     
velocities. = 2 i + 8 k – ( 1i + 2 j + 3k )
  
Resultant or velocity of B relative to A is = 1i − 2 j + 5k
= 24 2 + 322 + 2 × 32 × 24 cos 95° Magnitude of the displacement vector
= 1 + 4 + 25 = 30 m.
= 1466 = 38.3 km/h
Hence, the correct answer is option (B).
N
32 km/h Example 26
A 45° If a particle, moving with uniform acceleration, travels the
O distances of 8 and 9 cm in the 5th second and 9th second
W E
40°
respectively, then its acceleration will be
B 95° S (A) 1 cm/s2 (B) 5 cm/s2
24 km/h (C) 25 cm/s 2 (D) 0.5 cm/s2

Solution
Time for two ships to be 160 km apart a
s in the nth sec = u + ( 2n − 1)
160 2
= = 4.19 hours.
38.3 a
8 = u + ( 2 × 5 − 1) = u + 4.5a(1)
Hence, the correct answer is option (D). 2

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 3.64  |  Part III  ■  Unit 1  ■  Engineering Mechanics

a the forces necessary to produce a particular motion of the

9 = u + ( 2 × 9 − 1) = u + 8.5 a(2) particle. Kinetics of the rectilinear motion of a particle are
2
governed mainly by Newton’s three laws of motion.
Subtracting Eq. (1) from Eq. (2),
1 = 4a or a = 0.25 cm/s2. Newton’s first law: Every body continues in its state of rest,
Hence, the correct answer is option (C). or uniform motion in a straight-line, unless compelled to
change that state by forces impressed upon it.
Example 27 This law is sometimes called the law of inertia.
The acceleration due to gravity on a planet is 200 cm/s2. From Newton’s first law, it follows that any change in the
If it is safe to jump from a height of 2 m on earth, then the velocity of a particle is the result of a force. The question,
corresponding safe height on the planet is: of the relationship between this change in the velocity of the
(A) 2 m (B) 9.8 m particle and the force that produces it, is answered by the
(C) 10 m (D) 8 m second law of motion which is as follows.
Newton’s second law: The acceleration of a given particle
Solution
is proportional to the force applied to it and takes place in
Let hse and hsp denote the safe heights on the earth and the the direction of the straight line in which the force acts.
planet.
Newton’s third law: To every action there is always an
On the earth, v2 = 2ghse = 2 × 9.8 × 2
equal and opposite reaction, or the forces of two bodies
= 39.2 m2/s2 . on each other are always equal and directed in opposite
On the planet, v2 = 2 × 2 × hsp. directions.
For a safe jump, the final velocity (v) should be same on
General Equation of Motion for a Particle
earth and the planet. Hence, 2 × 2 × hsp = 39.2.
From Newton’s second law, the relationship between the
∴ hsp = 9.8 m.
acceleration ‘a’ produced in a body of mass ‘m’ (mass is
Hence, the correct answer is option (B). always assumed to be invariant with time) by a resultant,
‘F’, of all the forces acting on the body can be derived as
Example 28 follows: f = ma, which is the general equation of motion for
A ball weighing 500 gm is thrown vertically upwards with a particle.
a velocity of 980 cm/s. The time that the ball will take to For a stationary body lying on a surface (body with no
return to earth would be: motion), there is a force (F) exerted by the body on the
(A) 1 second (B) 2 seconds ­surface which is equal to the weight of the body (W), i.e.,
(C) 3 seconds (D) 4 seconds f = W = mg, where ‘m’ is the mass of the body and ‘g’ is
the acceleration due to gravity. There is an equal and oppo-
Solution site force exerted by the surface on the body (consequence
For the upward journey, u = u0 – gt of Newton’s third law). Note that the weight of a body is
obtained by multiplying the mass of the body by the accel-
      0 = 980 × 10–2 – 9.8 t
eration causes due to gravity.
       ⇒ t = 1 s
     v2 – u2 = 2gs ⇒ 0 – 9.82 = –2 × 9.8 s Differential Equation of Rectilinear Motion
    s = 4.9 m The general equation of motion for a particle can be applied
For the downward journey, directly to the case of the rectilinear translation of a rigid
1 body, since all the particles of the rigid body have the same
        s = ut + gt122 velocity and acceleration (same motion) where the particles
2
move in parallel straight lines. Here, the rigid body is con-
1 2
       4.9 = 0 + gt × 9.8 t2 sidered as a particle concentrated at the center of gravity of
2 1 the rigid body.
        t = 1 second
Whenever such a body or particle moves under the action
Total time taken to return to earth
of a force applied at its centre of gravity and having a fixed
= 1 + 1 = 2 seconds. line of action, acceleration of the body is produced in the
Hence, the correct answer is option (B). same direction, and if any initial velocity of the body is also
directed along this line, then the motion corresponding to
Kinetics of a Particle this case is known as rectilinear translation.
Kinetics can be used to predict a particle’s motion, given If the line of motion of a particle is taken to be along
a set of forces (acting upon the particle) or to determine the X-axis (i.e., displacement at a time t is denoted by x),

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 Chapter 4  ■  Rectilinear Motion  |  3.65

d2x
Hence, the velocity-time and displacement-time equa-
x=
 represents the acceleration and f represents the tions for a free-falling object are as follows:
dt 2
resultant force acting, then the differential equation of the x = x0 + gt
rectilinear motion of the particle is given by F = mx.
Two types of problems that can be solved by the above 1 2
x = x0 + x0 t + gt
equation are: (a) Determination of the force necessary to 2
produce a given motion of the particle where the displace- If the free-falling object starts to fall from a resting posi-
ment x is given as a function of time t, and (b) Determination tion, i.e., it has an initial velocity of zero ( x (0) = 0) , and if
of the motion of a particle given a force f acting on the par- the origin of displacement of the body is taken to coincide
ticle, i.e., to determine a function relating x and t, such that with the initial position of the body (i.e., it has an initial dis-
the above equation is satisfied. placement of zero (x0 = 0)), then the above equations reduce
Motion of a Particle Acted Upon to:
by a Constant Force x = gt
A particle, acted upon by a force of constant magnitude
and direction, will move rectilinearly in the direction of the 1 2
x= gt
force subjected to a constant acceleration. Let us consider a 2
particle moving along the X-axis (see figure below) where
the initial (at t = 0) displacement and velocity of the particle Force as a Function of Time
are x0 and x0 , respectively. If the force acting on the particle is a function of time t, (i.e.,
x0 the acting force = F(t)), then the acceleration a(t), velocity
C F D x (t ) and displacement x(t) of the particle at time t (with ini-
O x tial time, t = 0) is given by the following equations.
x
F (t )
If f is the magnitude of the constant force acting on the parti- a(t ) =
m
cle, then from the differential equation of rectilinear motion, t
F x (t ) = ∫ a(t )dt
x=
 = a , where a is the constant acceleration produced in
m 0
the particle due to the constant force. The equation, x = a t
d ( x ) x(t ) = ∫ x (t )dt
can be written as = a . Integration of the above equa- 0
dt
tion with the initial value condition, at t = 0, x = x0 , gives:
x = x0 + at (1) Dynamics of a Particle
which is the general velocity-time equation for the recti- D’Alembert’s Principle
linear motion of a particle under the action of a constant Let, ΣFi, where Fi denotes the ith force, be the resultant of
force ‘F’ producing the constant acceleration ‘a’ in the a set of forces acting on a particle in the X-axis direction.
dx From the differential equation of the rectilinear motion of a
particle. With x = , Eq. (1) can be rewritten as follows: particle, we have
dt
dx ∑ Fi − mx = 0
= x0 + at .
dt or ∑ Fi + ( − mx) = 0
Integration of the above equation with the initial value
1 From the above equation, it can be observed that if a ficti-
condition, at t = 0 x = x0, gives: x = x0 + x0 t + at 2, which
2 tious force ( −mx) is added to the system of forces acting
is the general displacement-time equation for the rectilinear on the particle, then an equation resembling equilibrium is
motion of a particle under the action of a constant force ‘F’ obtained. The force ( −mx) which has the same magnitude
producing the constant acceleration ‘a’ in the particle. as mx, but opposite in direction is called ‘the inertia force’.
Hence, it can be observed that if an inertia force is added
Free-falling Object to the system of forces acting on a particle, then the par-
The force acting on a free-falling object is the weight of the ticle is brought into an equilibrium state called ‘dynamic
object (assuming no friction in the motion) and, therefore equilibrium’. This is known as the D’Alembert’s principle.
the acceleration produced in the object is the acceleration The above equation thus represents the equation of dynamic
caused due to gravity, that is, f = W = mg, so a = g. equilibrium for the rectilinear translation of a rigid body.

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 3.66  |  Part III  ■  Unit 1  ■  Engineering Mechanics

Let us consider, any system of particles connected It is assumed that the force ‘F’ is known as a function of
between them and so constrained that each particle can have time. It is given by the force-time diagram as shown in the
only a rectilinear motion. To exemplify such a system, the above figure. The right-hand side of Eq. (1) is then repre-
case of two weights, W1 and W2, attached to the ends of a sented by the area of the shaded elemental strip of height
flexible, but inextensible string overhanging a pulley (figure ‘F’ and width ‘dt’ in the force-time diagram. This quantity is
below) is considered. called the impulse of the force F in the time interval dt. The
expression mx on the left-hand side of the equation is called
the momentum of the particle. The equation states that the
differential change of the momentum of the particle during
O
the time interval dt is equal to the impulse of the acting
S S force during the same time interval. Impulse and momen-
m2 m1
tum have the same dimensions of the product of mass and
velocity.
W2 W1 Integrating Eq. (1), we get:
m2 X m1 X t
mx − mx0 = ∫ F dt ,
The inertia of the pulley and the friction on its axle are 0
assumed to be negligible. If the motion of the system is
assumed to be in the direction as shown by the arrow on where x0 is the velocity of the particle at time t = 0
the pulley, an upward acceleration x of the weight W2 and Thus, the total change in the momentum of a particle,
a downward acceleration  x of the weight W1 is obtained. during a finite time interval, is equal to the impulse of the
The inertia forces acting on the corresponding weights are acting force during the same time interval. This impulse is
shown in the above figure. represented by the area OBCD of the force-time diagram.
By adding the inertia forces to the real forces, (such as The equation of momentum-impulse is particularly useful
W1 and W2, and the string reactions S), a system of forces in when dealing with a system of particles, since in such cases
equilibrium is obtained for each particle. Hence, the entire the calculation of the impulse can often be eliminated. As
system of forces can be considered to be in equilibrium. An a specific example, consider the case of a gun and shell as
equation of equilibrium can be written for the entire system shown in the following figure, which may be considered
(instead of separate equilibrium equations for the individual
weights) by equating to zero, the algebraic sum of moments
of all the forces (including the inertia forces) with respect V1 F F V2
to the axis of the pulley or by using the principle of virtual
work. In either case, the internal forces ‘S’ of the system
need not be considered and the following equation of equi-
as a system of two particles. During the extremely short
librium can be obtained for the entire system.
interval of explosion, the forces ‘F’ acting on the shell and
 W − W2  gun and representing the gas pressure in the barrel are vary-
W2 + m2 
x = W1 − m1  x= 1
x or  g ing in an unknown manner. A calculation of the impulses of
 W1 + W2 
these forces would be extremely difficult.
However, the relation between the velocity of the shell
and velocity of recoil of the gun can be obtained without
Momentum and Impulse calculation of the impulse. Since the forces ‘F’ are in the
The differential equation of the rectilinear motion of a par- nature of action and reaction between the shell and gun,
ticle can be written as: they must at all times be equal and opposite. Hence, their
impulses for the interval of explosion are equal and oppo-
dx
m = F , or d ( mx ) = Fdt (1) site since the forces act exactly for the same time ‘t’.
dt Let m1 and m2 be the masses of the shell and gun. If the
initial velocities of the shell and gun are assumed to be zero,
X
and if the external forces are neglected, then:

X v2 m1
m1v1 = m2 v2 , i.e., =
B C v1 m2

t The velocities of the shell and gun, after discharge, are in

0 D
t opposite directions, and inversely proportional to the cor-
dt responding masses. Internal forces in a system of particles

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 Chapter 4  ■  Rectilinear Motion  |  3.67

always appear as pairs of equal and opposite forces and It is assumed that the force ‘F’ is known as a function of the
need not be considered when applying the equation of displacement x of the particle. It is represented by the fol-
momentum and impulse. Thus, it may be stated that for a lowing force-displacement diagram.
system of particles on which no external forces are applied,
the momentum of the system remains unchanged, since the B C
total impulse is zero. This is sometimes called the principle F
F
of conservation of momentum.
h

Moment and Couple

Moment or moment of a force is the turning effect caused by
the force. It is the force acting at a perpendicular distance ‘d’. A D X
Moment of a force = Force × Perpendicular distance. dx
x0

x
F The right-hand side of Eq. (2) is represented by the area of
• the elemental strip of the height ‘h’ and width dx in the above
figure. This quantity represents the work done by the force
Moment = F × x ‘F’ on the infinitesimal displacement dx. The expression in
Couple the parenthesis on the left-hand side of Eq. (2) is called the
kinetic energy of the particle. Eq. (2) thus states that the dif-
Two equal and opposite forces with separate lines of action ferential change in the kinetic energy of a moving particle
present in a system of forces constitute a couple. Both forces is equal to the work done by the acting force on the cor-
create their own moment of force. The net moment of the responding infinitesimal displacement dx. Work and kinetic
couple is independent of the location of the point considered. energy have the same dimensions of the product of force and
Moment of couple = Force × Perpendicular distance length. They are usually expressed in the unit of Joules (J).
between the forces. Integrating Eq. (2) with the assumption that the velocity
of the particle is x0 when the displacement is x0, we have:
F
F x x
mx 2 mx0 2
2
−
2
= ∫ F dx (3)
x0
Moment of couple = F⋅x
The definite integral on the right-hand side of Eq. (3) is
•• Moment is the measure of the turning effect produced by represented by the area ABCD of the force-displacement
a force about a point. Couple consists of two forces, equal diagram. This is the total work of the force ‘F’ on the finite
and opposite, acting in two different, but parallel lines of displacement of the particle from x0 to x. The work of a
action. force is considered positive if the force acts in the direction
•• Moment of a couple is independent of the location of the of the displacement. It is negative if acts in the opposite
pivot or point considered. direction. The total change in the kinetic energy of a particle
during a displacement from x0 to x is equal to the work of
the acting force on the displacement.
Work and Energy The equation of work and energy is especially useful
The differential equation of the rectilinear motion of a par- in cases where the acting force is a function of displace-
ticle can be written in the following form: ment and where the velocity of the particle as a function
of displacement is of interest. For example, the velocity
dx with which a weight ‘W’ falling from a height h strikes the
m =F
dt ground is to be determined. In this case, the acting force F
= W and the total work is Wh. Thus, if the body starts from
Multiplying both sides of the above equation by x and with rest, the initial velocity x0 = 0, and hence Eq. (3) becomes:
suitable modifications, the above equation can be written as
follows: mx 2
= Wh (4)
2
 mx 2 
d = F dx (2) which yields x = v = 2 gh .
 2 

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 3.68  |  Part III  ■  Unit 1  ■  Engineering Mechanics

Let the same body slide, without friction, along an B

inclined plane AB starting from an elevation h above point s
B as shown in the following figure. F

l A
q
A
O
W
sin
h α ∴ Work done = F ⋅ s
W = F ⋅ r ⋅ q = T ⋅ q.
α B
Work Energy Formulations
The equation of work and energy can be used to deter- 1
mine the velocity of the body when it reaches point B. Here, •• Kinetic energy of a body/particle in translation = mv2.
2
only the component W sina of the gravity force does work •• Kinetic energy of a body/particle in rotation and rotating
on the displacement. The component perpendicular to the 1
inclined plane is at all times balanced by the reaction of the about a point = I W2.
2
plane. In short, the resultant of all the forces acting on the
•• Work-energy principle for a body/particle in translation.
body is F = W sina in the direction of motion, and this force Work done on body/particle between points 1 and 2 is
 h  x2
acts through the distance   . The work of the force
 sin α  W1–2 = ∫ ΣFx dx.
x1
h
acting on the body is = W sin α × = Wh , and hence Y
sin α
F1 F2
t1
velocity at the point B (derived from Eq. (4)), v = 2 gh . t2
Hence, the velocity is the same as that gained in a free fall 1 W V1 2
V2
through the height h. μR
If m is the coefficient of friction between the block and
• • • X
x1
(0,0) R
the inclined plane, then the work of friction has to be con- x2
sidered in Eq. (3).
In such a case, the resultant acting force in the direction Change in kinetic energy from position 1 to 2 is (Δ KE)1–2
of motion:
1
F = W sina - mW cosa. (
= m v22 − v12
2
)
h
Then, through the displacement between points A
sin α x2
1
and B, the work done is =Wh - μWh cot a. Eq. (3) would ∴ W1–2 = ∫ ΣFx dx = 2
(
m v22 − v12 )
then yield: x1

v = 2 gh(1 − µ cot(α ))
Work-energy principle for a body/particle in rotation.
IO
π 1
When α = , the above equation agrees with the velocity • O
2
w1
equation derived for a free-falling body. When m = 0, the q = q1 (q1 − q2)
above equation agrees with the velocity equation derived
for the inclined plane motion of the body with no friction.
Also, from the above equation, it can be noted that to obtain
a real value for the velocity, m < tan a otherwise, the block
would not slide down. q = q2
IO •2
w2
Work done by Torque
Work done from position 1 to 2 is given by:
Consider a light rod of length l pin joined at one end and is
turned by an angle q by force ‘F’ from position A to B. Work θ2
done by the constant torque is the product of the torque and W1–2 = ∫ ΣM o dθ
the angle turned by the rod. θ1

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 Chapter 4  ■  Rectilinear Motion  |  3.69

Change in kinetic energy from position 1 to 2 is: (A) 50g (B) 55.55g
(C) 100g (D) 150g
1
KE1–2 = (
I ω 2 − ω22
2 O 1
)
Solution
θ2
1 Work done = potential energy change in the raising of the
(
∴ Work done, W1–2 = ∫ ΣM o dθ = IO ω12 − ω22 .
2
) L
θ 1 centre of mass over the distance .
6
NOTES m L 100 × g × 10 1000 g
= g = = = 55.55 g
1. Work done by a force is zero if displacement is zero 3 6 18 18
or the force acts normal to the displacement. For
example, gravity force does not work when a body Hence, the correct answer is option (B).
moves horizontally.
2. Work done by a force is positive if the direction of Alternate Method
force and the direction of displacement are same. For
example, work done by force of gravity is positive dx
when a body moves from a higher elevation to a lower
elevation. A positive work can be described as the
work done by a force. On the other hand, a negative
work is the work done against a force.
3. Work is a scalar quantity. It has magnitude, but no
direction.
4. Work done by a force depends on the path over which L/3 L/3
mg mg  x 2 
the force moves except in the case of conservative W= ∫ L
x dx =
L  2  0
forces. Forces due to gravity, spring force are 0
conservative forces, whereas friction force is a non- mg L2 L
conservative force. = × = mg × .
L 18 18

Example 29
If a bucket of water weighing 15 N is pulled up from a well of
Ideal Systems—Conservation
25 m depth with a rope weighing 1.5 N/m, then the work done is of Energy
(A) 843.75 Nm (B) 500 Nm The method of work and energy for a single particle can
(C) 575 Nm (D) 600 Nm be extended to apply to a system of connected particles as
shown in the following figure. In doing so, it is to be noted
Solution that the attention is limited to ideal systems with one degree
The work done to pull the rope of freedom. It is assumed that the system has frictionless
25
constraints and inextensible connections and its
= ∫ 1.5 × (25 − h) dh (h is the tip of the rope from the bottom
0
of the well)
252
= 1.5 × = 468.75 Nm
2 x1
Total work done = Work done to pull the bucket + Work
m2 O
done to pull the rope m1
= 15 x 25 + 468.75 = 843.75 Nm. m3
Hence, the correct answer is option (A).
a
Example 30
A uniform chain of length 10 m and mass 100 kg is lying
on a smooth table such that one-third of its length is hang- configuration can be completely specified by one coordi-
ing vertically down over the edge of the table. If ‘g’ is the nate, such as x1 in the above figure. In the case shown in
acceleration due to gravity, then the work required to pull the above figure, for example, the assumptions involve a
the hanging part of the chain is smooth inclined plane, frictionless bearings, inextensible

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 3.70  |  Part III  ■  Unit 1  ■  Engineering Mechanics

strings and neglecting entirely the rotational inertia of the NOTE

pulleys. Then the system may be regarded simply as three If a particle of weight ‘w’ is at an elevation ‘x’ above a
particles, m1, m2, and m3, each of which performs a rectilin- chosen datum plane, then the potential energy of the parti-
ear motion. From kinematics, the displacements and veloci- cle, V = mx. Similarly, for a system of particles at an eleva-
ties of all the three masses can be expressed in terms of one
tion, the potential energy of the system, V = ∑ wi xi = Wxc .
variable, say the coordinate x1 of the particle m1.
During motion of the system, an infinitesimal interval
of time dt is considered during which the system changes Where wi and xi are the weight and elevation above a
its configuration slightly and each particle is displaced by a chosen datum plane for the ith particle, W is the total weight
length of dxi­, along its line of motion. If Fi­is the resultant of the system and xc is the elevation of the center of gravity
force acting on any particle mi, then the total increment of of the system above the chosen datum plane.
work of all the forces during such a displacement: For the system of particles moving from the configura-
tion A to the configuration B, it can be shown that TB + VB
dU = ∑ Fi dxi (5) = TA + VA .
For the system of particles, it can be shown as:
Law of Conservation of Energy
dT = dU (6) As the system moves from one configuration to another, the
1 total energy (kinetic + potential) remains constant. Kinetic
( )
where T = ∑ mi xi 2 , T is the total kinetic energy of
2 energy may be transformed into potential energy and vice
the system of particles with the mass and velocity of the versa, but the system as a whole can neither gain nor lose
ith particle being mi and xi. Eq. (6) states that the differen- energy. This is the law of conservation of energy as it applies
tial change in the total kinetic energy of the system when to a system of particles with ideal constraints. Such systems
it slightly changes its configuration is equal to the corre- are sometimes called ‘conservative systems’.
sponding increment of work of all the forces.
Consider any two configurations of the system denoted Impact
by the subscripts A and B, then from Eq. (6), we have: The impact between two moving bodies refers to the col-
lision of the two bodies that occur in a very small interval,
TB xB
and during which the bodies exert a very large force (active
∫ dT = ∫ dU or and reactive force) on each other. The magnitudes of the
TA xA
forces and the duration of impact depend on the shapes of
xB the bodies, their velocities, and elastic properties.
TB − TA = ∫ dU (7) Consider the impact of two spheres of masses m1 and
xA m2 as shown in the following figure. Let the spheres have
the respective velocities of u­1 and u2, where u1 > u2 before
This is the equation of work and energy for a system of impact, and the respective velocities of v1 and v2 after
particles. It states that the total change in the kinetic energy impact.
of the system when it moves from configuration A to con-
figuration B is equal to the corresponding work of all the u1
m1 u2
forces acting upon it. In the case of an ideal system, the
reactive forces will produce no work and work of all the x
internal forces which occur in equal and opposite pairs will Before impact
cancel each other. Thus, for such systems, only the work of
active external forces is to be considered on the right-hand
side of Eq. (7). m1 v1 v2
The potential energy of a system in any configuration (A m2
x
or B) is defined as the work which will be done by the acting
forces if the system moves from that configuration (A or B) After impact
back to a certain base or reference configuration (O). If VA
and VB are the potential energies of the system in configura- It is assumed that these velocities are directed along the line
tions A and B, then joining the centres of the two spheres and, are considered to
0 0
be positive if they are in the positive direction of the X-axis.
VA = ∫ dU and VB = ∫ dU . This is called the case of direct central impact. Two equal
A B
and opposite forces, i.e., action and reaction, are produced
at the point of contact during impact. According to the law

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 Chapter 4  ■  Rectilinear Motion  |  3.71

of conservation of momentum, such forces cannot change Newton’s Experimental Law

the momentum of the system of two balls, hence: of Colliding Bodies
m1u1 + m2 u2 = m1v1 + m2 v2 (8) Newton proposed an experimental law that describes how
the impact of moving bodies was related to their velocities
and found that:
Elastic Impact
In an elastic impact, the momentum and kinetic energy is Speed of separation
=e
conserved. If the kinetic energy is conserved during impact, Speed of approach
then:
e = Coefficient of restitution
1 1 1 1 e satisfies the condition 0 ≤ e ≤ 1.
m1u12 + m2 u2 2 = m1v12 + m2 v2 2 (9)
2 2 2 2 If e = 1 ⇒ the collision is perfectly elastic
If e = 0 ⇒ the collision is inelastic
Since momentum is conserved, Eq. (8) is also applicable in If 0 < e < 1 ⇒ the collision is said to be elastic.
this type of impact. From Eqs. (8) and (9), it can be shown
that:
Energy Loss Due to Impact
The energy lost in impact when e ≠ 1, i.e., when the colli-
v1 − v2 = −(u1 − u2 ) (10) sion is not perfectly elastic is given by:
1 m1m2
This equation represents a combination of the law of con- Loss in kinetic energy = (u1 – u2)2 (1 – e2).
servation of momentum and conservation of energy. It 2 m1 + m2
states that for an elastic impact the relative velocity after ∴ When e = 1 the loss is zero.
impact has the same magnitude as was before impact, but
with reversed sign.
Coefficient of Restitution
For two bodies of equal masses undergoing an elastic It is defined as the ratio of the relative velocity of the impact-
impact, from Eqs. (8) and (10) it can be shown that they ing bodies after impact to their relative velocity before an
will exchange their velocities, i.e., v1 = u2 and v2 = u1. If the impact. The coefficient of restitution ‘e’ is given by the fol-
second body was at rest before the impact, i.e., u2 = 0, then lowing equation:
it would be noted that the striking body stops, i.e., v1 = 0, (v − v )
e= 2 1
after having imparted its velocity to the other ball. This phe- (u1 − u2 )
nomenon can be observed in the case of a moving billiard
ball which squarely strikes one that was at rest. Again, if the
Example 31
two balls were moving toward each other with equal speeds
before impact, an exchange of velocities will simply mean A bullet travelling with a velocity of 800 m/s and weighing
that they rebound from one another with the same speed with 0.25 N strikes a wooden block of weight 50 N resting on
which they collided. As another special case, we assume that a horizontal floor. The coefficient of friction between floor
m2 = ∞ while m1 remains finite and further u2 = 0. This will and the block is 0.5. Determine the distance through which
represent the case of an elastic impact of a ball against a flat the block is displaced from its initial position.
immovable obstruction, such as the dropping of a ball on a
cement floor. In this case, it is obtained that v1 = -u1, i.e., the Solution
striking ball rebounds with the same speed with which it hits Velocity of the bullet before impact, va = 800 m/s
the obstruction. Velocity of the block before impact, vb = 0 m/s
0.25
Mass of the bullet, ma = kg
Plastic or Inelastic Impact g
In a plastic or inelastic impact, the momentum is conserved 50
Mass of the block, mb = kg
but the kinetic energy is not (part of the kinetic energy is g
converted to a different form of energy). In a perfectly plas- The bullet after striking the block remains buried in the
tic impact, the colliding bodies will stick to each other after block and both move with a common velocity v.
collision and will move with a common velocity. If v is the Applying the principle of conservation of momentum:
common velocity of two colliding bodies after a perfectly
plastic impact, then from Eq. (8), we have: mava + mbvb = (ma + mb)v
0.25 50  0.25 50 
× 800 + ×0=  + v
m1u1 + m2 u2 g g  g g
v=
m1 + m2
v = 3.98 m/s

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 3.72  |  Part III  ■  Unit 1  ■  Engineering Mechanics

To find the distance travelled by the block, apply the prini- and 2 m/s. If the ball of mass 3 kg impinges with the ball
ciple of work and energy. Kinetic energy lost by the block of mass 9 kg which, in turn, impinges with the ball of mass
with the bullet buried = work done to overcome the fric- 12 kg. Prove that the balls of masses 3 kg and 9 kg will be
tional force. brought to rest by the impacts. Assume the balls to be per-
If s is the distance travelled by the block, then: fectly elastic.
1
(m + mb)v2 = mR s 2 m/s
2 a
= mg(ma + mb) s( ∵ R = g(ma + mb)) 4 m/s
12 m/s
3.982
∴ s= = 1.61 m.
2 × 9.81 × 0.5
3 kg 9 kg 12 kg
Example 32
Two bodies of masses of 5 kg and 3 kg resting on two
inclined planes each of elevation 30° and are connected by a Solution
string passing over the common apex. After two seconds, the For perfectly elastic balls, e = 1
body with 5 kg is removed. How far up the plane will be 3 ma = 3 kg, mb = 9 kg, mc = 12 kg
kg body continue to move? (Neglecting the frictional force.) Impact of balls A and B
Conservation of momentum gives,
mava + mbvb = mav′a + mbv′b
a 3 × 12 + 9 × 4 = 3v′a + 9v′b(1)
3 kg
5 kg
m2 v′b − v′ a
m1 e=-
vb − va
30° 30°
v′b – v′a = e(va - vb) = 1 × (12 - 4) = 8 (2)

Solution Solving Eqs. (1) and (2), we get v′b = 8 m/s and v′a = 0 m/s,
i.e., the ball of mass 3 kg is brought to rest.
m1 sin θ1 − m2 sin θ 2 5 sin θ1 − m2 sin θ 2
a= ⋅g = × 9.81
m1 + m2 m1 + m2 Impact of Balls B and C
Now, consider the impact of ball B of mass 9 kg and moving
= 1.23 m/s2
with the initial velocity of 8 m/s with the ball C of mass 12
Now, considering the motion of the 3 kg body when the 5 kg
kg and moving with the velocity of 2 m/s.
body is not removed.
Conservation of momentum gives:
Initial velocity = u = 0
mbvb + mcvc = mbv′b + mcv′c
Acceleration = a = 1.23 m/s2
Time taken = t = 2 seconds 9 × 8 + 12 × 2 = 9v′b + 12v′c(3)
Let v = final velocity = u + at = 0 + 2 × 1.23 = 2.46 m/s
v′c − v′b
Now, after 2 seconds, when the 5 kg body is removed: e = - v −v
Let u1 = initial velocity = 2.46 m/s c b

V1 = final velocity = 0 v′c - v′b = e(vb – vc)

a1 = acceleration = -gsin 30°
= 1 × (8 - 2) = 6 (4)
9.81
= = – 4.905 m/s2 Solving Eqs. (3) and (4), we get v′c = 6 m/s and v′b = 0 m/s,
2
i.e., the ball of mass 9 kg is brought to rest.
(Downward motion has resistance due to gravity because
after cutting the string, mass 3 kg will tend to move further
Direction for solve examples 34 and 35:
up, but gravity will pull it down).
The blocks 1 and 2 having a weight of 1 kg each and veloci-
Using the relationship v2 – u2 = 2as
ties of 10 m/s and 4 m/s undergo a perfect inelastic collision.
⇒ 0 – (2.46)2 = 2 × (–4.905)s
⇒ s = 0.617 m.
Example 34
Example 33 The final velocity of the blocks is
(A) 7 m/s (B) 6 m/s
Three spherical balls of masses 3 kg, 9 kg and 12 kg are
(C) 3 m/s (D) 4 m/s
moving in the same direction with velocities 12 m/s, 4 m/s,

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 Chapter 4  ■  Rectilinear Motion  |  3.73

Solution ∴Total space described by the body

M1V1 + M 2V2 1 × 10 + 4 × 1 u 2 (eu ) 2 (e 2 u) 2 (e n u) 2
V= = = + + +
m1 + m2 1+1 2g 2g 2g 2g
= 7 m/s u2
Hence, the correct answer is Option (A). = [1 + e2 + e4 + e6 + …e2n]
2g
Example 35 u 2  1 − e 2n 
The energy converted into heat as a result of the collision is =  .
2 g  1− e2 
(A) 40 J (B) 9 J
(C) 50 J (D) 54 J (ii) From the fact that a body projected upward with a
2u
Solution velocity u m/s takes seconds reaching the ground,
g
The original kinetic energy was:
for the present case:
1 1 Time taken by the body in rebound
K1 =
× 1 × 100 + × 1 × 16 = 58 J
2 2
2u
The final kinetic energy is: =
g
1
K2 = × 2 × 49 = 49 J Time taken after the first rebound
2
Loss of kinetic energy = 58 - 49 = 9 J (converted to heat 2(eu )
=
energy). g
Hence, the correct answer is option (B).
Hence, after n rebounds, time taken after nth rebound
Example 36 2(e n u )
to reach the ground =
An elastic ball of mass ‘m’ is projected vertically upwards g
from a point on the horizontal plane with velocity u. If ‘e’ Summing up, time taken
be the coefficient of elasticity, then find:
2u 2(eu ) 2(e 2 u ) 2(e n u )
(i)  The of the heights attained by the ball after each = + + +…+
rebound, until it finally comes to rest. g g g g
(ii) The time that elapses to the instant of nth rebound. 2u
= (1 + e + e2 +…en)
What is its kinetic energy after the nth rebound? g
2u  1 − e n 
Solution =
g  1 − e 
(i) When a body is projected upwards with a velocity u,
u2
it goes up a height of The velocity with which a Also, at the end of the nth rebound, velocity of body
2g
body having velocity u, rebounds from the floor = eu, = enu
where ‘e’ is the coefficient of restitution (or elasticity) 1
\ KE of the body = m(enu)2
between the ball and the floor. 2
Distance covered before the rebound me 2 nu 2
=
u2 2
= (1)
2g When the body with velocity ‘u’, falls form a height H,
Distance covered after the rebound then using
(eu 2 ) u2
= H= .
2g 2g

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 3.74  |  Part III  ■  Unit 1  ■  Engineering Mechanics

Exercises

Direction for questions 1 and 2: (C) 5.125 m/s, 6.536 m/s

A pile of mass 400 kg is driven by a distance of d into the (D) 5.565 m/s, 6.926 m/s
ground by the blow of a hammer of mass 800 kg through
a height of h onto the top of the pile. Assume the impact Direction for questions 7 and 8:
between the hammer and pile to be plastic. A pile of mass 500 kg is driven by a mass 350 kg falling
on it vertically through a distance of 1 m. After impact, the
falling mass and pile remain in contact and move together.
The pile is moved 150 mm at each blow.
M 1 7. Energy lost in each blow is
h (A) 1676 Nm (B) 1762 Nm
2
δ (C) 1915 Nm (D) 2020 Nm
3 8. Average resistance against the pile is
(A) 17.765 kN (B) 18.625 kN
(C) 20.516 kN (D) 22.835 kN
δ 9. A body of mass 5 kg falls from a height of 50 m and
penetrates into the ground by 90 cm. Average resistance
to penetration is
Given M = 800 kg, m = 400 kg, h = 1.2 m, d = 10 cm. (A) 2668 N (B) 2774 N
1. The work done is (C) 2814 N (D) 2892 N
(A) 5.28 kJ (B) 6.278 kJ 10. Which of the following relation represents motion
(C) 7.126 kJ (D) 6.8 kJ under variable acceleration?
2. The kinetic energy of the whole system in the position dv dv
(A) v = a a= v
(B)
3 is ds ds
(A) 0 J (B) 10 J 1 dv
(C) 100 J (D) 20 J v=
(C) (D) None of these
a ds
3. A particle starts with velocity 2 m/s and accelerates 11. The value of coefficient of restitution is one for
at a rate of 3 m/s2 for 15 seconds and then retards at (A) perfectly elastic collision
6 m/s2 until it stops. The total distance covered is (B) perfectly inelastic collision
(A) 184.08 m (B) 551.58 m (C) neither plastic nor elastic collision
(C) 367.5 m (D) None of these (D) None of these
12. A rigid body has a combined translational and rota-
4. A point ‘P’ moves along a straight line as per the law x
tional motion. Its mass is ‘M’ and linear and angu-
= 4t2 + 12t + 1, the velocity of the point after 3rd and
lar velocities are ‘V’ and ‘w’ respectively. If ‘I’ is its
4th seconds are respectively.
moment of inertia, the total energy of the rigid body is
(A) 36 m/s and 48 m/s 1 1 1
(B) 36 m/s and 44 m/s (A) mV2 /Iw2 (B) mV2 + Iw2
(C) 34 m/s and 44 m/s 2 2 2
1 2 1
(D) 34 m/s and 46 m/s (C) mV + Iw
2 (D) (mV + Iw2)
2
2 4
5. A particle moving in space with velocity J = 3t2i + 13. A wheel is rolling on a straight road as shown below.
4tj – 7t3k. The acceleration of the particle at t = 1 will For this wheel the acceleration of the center ‘O’ and its
be instantaneous center are
(A) 3i + 8j – 7k (B) 6i + 4j + 21k
B
(C) 6i + 4j – 21k (D) zero
ω
6. A ball of mass 5 kg moving with a velocity of 6 m/s
A C V
makes impact with another ball of mass 3 kg moving O
in the same direction with a velocity of 4 m/s. If coef- D
ficient of restitution is 0.5, velocities of the balls after
impact are
(A) 4.875 m/s, 5.875 m/s (A) w2r and O (B) w2r and D
(C) 2
V /r and D (D) zero and O
(B) 4.962 m/s, 6.125 m/s

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 Chapter 4  ■  Rectilinear Motion  |  3.75

14. A sphere A impinges directly with another sphere B of plane with zero position. What will be the ratio of their
same mass at rest. Coefficient of restitution is 0.6. Ratio kinetic energy when they reach at bottom of inclined
of their velocities (VA:VB) after impact is plane?
(A) 1 : 2 (B) 1 : 3 (A) 5 : 3 (B) 3 : 5
(C) 1 : 4 (D) 1 : 5 (C) 1 : 1 (D) 2 : 3
15. B
21. Acceleration of a body moving along straight line var-
ies with time and is given by a = 2 – 3t 5 minutes
r after  from start of the observation, the velocity was
20 m/s. Time after start in which the velocity becomes
ν
zero is
P
(A) 4.48 seconds (B) 5.22 seconds
30° (C) 6.33 seconds (D) 6.92 seconds
A 22. Two smooth balls of mass 1 kg each collide such that
A circular disk of radius r rolls without slipping at a the line of impact is horizontal. The balls with ini-
velocity n as shown in the figure. Magnitude of the tial velocities 20 m/s and 30 m/s respectively were
resultant velocity at point P is moving at 30° and 60° to horizontal as shown in
3 the  figure. After collision the velocities of the balls
(A) n 3 (B) n were 16.7 m/s and 30.4 m/s respectively. Inclination
2
of the velocities to horizontal are θ1 and θ2 are
ν 2ν respectively.
(C) (D)
2 3
V1
V2
16. A sphere moving with a uniform velocity impinges
directly up on another identical sphere at rest. After θ1 θ2
impact the first sphere comes to rest and the other
moves. During the collision, 36% of kinetic energy gets α1 α2
dissipated. Coefficient of restitution is
(A) 0.8 (B) 0.7 u1 u2
(C) 0.6 (D) 0.5
(A) 41° and 61° (B) 61° and 41°
17. A bullet moving with a speed of 450 m/s penetrates
10 cm into a fixed wooden block. The average force (C) 34.8° and 57.8° (D) 36.8° and 58.7°
exerted by the wooden block on the bullet is 20.25 kN. 23. Angular displacement of a body is given by, θ = 6t2 +
Then mass of the bullet is 3t + 10. Where t is in seconds. Angular velocity and
(A) 0.015 kg (B) 0.018 kg angular acceleration of the body when t = 10 seconds
(C) 0.02 kg (D) 0.026 kg are
18. A batsman strikes a cricket ball of mass 100 gm bowled (A) 123 rad/s, 12 rad/s2
towards him. Before striking, the ball was moving hori- (B) 135 rad/s, 14 rad/s2
zontally and had a velocity of 20 m/s. After striking, (C) 142 rad/s, 16 rad/s2
the ball moved with a velocity of 35 m/s at an angle (D) 153 rad/s, 18 rad/s2
45° with horizontal. If the impact of the bat on the ball
lasted for 0.02 second, the average impulsive force 24. Acceleration of a particle is given by, a = t3 – 3t2 + 5.
exerted was Where t = time in seconds and a = acceleration in m/s2.
(A) 255.68 N (B) 268.32 N Velocity of particle when t = 2 s is 8 m/s. Velocity of the
(C) 277.46 N (D) 288.45 N particle when t = 4 s is
(A) 22 m/s (B) 25 m/s
19. A car of weight 150 kN is climbing a slope of 1 in 40. (C) 28 m/s (D) 32 m/s
The road resistance is 3600 N. Power required to run
the car at a speed of 20 km/h is 25. A car starting from rest attains a speed of 64 km/hour
(A) 34.33 kW (B) 36.44 kW over a distance of 480 m. Assuming uniform accelera-
(C) 38.62 kW (D) 40.83 kW tion, time taken to cover the distance is
20. Two metallic balls having potential energy in the ratio (A) 36 seconds (B) 42 seconds
3 : 5 are made to slide down a frictionless inclined (C) 48 seconds (D) 54 seconds

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 3.76  |  Part III  ■  Unit 1  ■  Engineering Mechanics

26. Mass m A block of mass m is in equilibrium on an inclined

plane of 30° by the action of an horizontal force P as
shown in the figure. The value of the force is
P (A)
mg 3 (B)
mg 2
mg mg
(C) (D)
2 3

30°

Previous Years’ Questions

1. During inelastic collision of two particles, which one
2s
of the following is conserved? [GATE 2007] (D)
(A) Total linear momentum only. g sin θ (tan θ + µ )
(B) Total kinetic energy only.
3. The initial velocity of an object is 40 m/s. The accel-
(C) Both linear momentum and kinetic energy.
eration a of the object is given by the following
(D) Neither linear momentum nor kinetic energy.
expression:
2. A block of mass M is released from point P on rough a = –0.1v
inclined plane with inclination angle θ, shown in the where, v is the instantaneous velocity of the object.
figure below. The coefficient of friction is μ. If μ < tan θ, The velocity of the object after 3 seconds will be
then the time taken by the block to reach another _____. [GATE, 2015]
point Q on the inclined plane, where PQ = s, is
 [GATE, 2007] 4. A bullet spins as the shot is fired from a gun. For this
purpose, two helical slots as shown in the figure are
cut in the barrel. Projections A and B on the bullet
P engage in each of the slots.
Gun barrel A Bullet
g

0.5 m B

Q
θ Helical slots are such that one turn of helix is com-
pleted over a distance of 0.5 m. If velocity of bullet
(A) 2s when it exists the barrel is 20 m/s, it spinning speed
g cos θ (tan θ − µ ) in rad/s is _____. [GATE, 2015]
5. A ball of mass 1 kg, initially at rest, is dropped from
(B) 2s a height of 1 m. Ball hits the ground and bounces off
g cos θ (tan θ + µ ) the ground. Upon impact with the ground, the veloc-
ity reduces by 20%. The height (in m) to which the
(C) 2s
ball will rise is _____. [GATE, 2015]
g sin θ (tan θ − µ )

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 Chapter 4  ■  Rectilinear Motion  |  3.77

Answer Keys

Exercises
 1. B 2.  A 3.  B 4.  B 5.  C 6.  A 7.  D 8.  A 9.  B 10.  B
11.  A 12.  B 13.  D 14.  C 15.  B 16.  A 17.  C 18.  A 19.  D 20.  B
21.  C 22.  D 23.  A 24. A 25. D 26.  D

Previous Years’ Questions

1. A 2. A 3.  29.5 to 29.7 4.  251 to 252 5. 0.64

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 Chapter 5

Curvilinear Motion

CHAPTER HIGHLIGHTS

☞☞ Introduction ☞☞ Laws for rotary motion

☞☞ Projectile motion ☞☞ D’Alembert’s principle for rotary motion
☞☞ Apparent weight in a lift ☞☞ Euler’s equation of motion
☞☞ Kinematics of rotation ☞☞ Simple harmonic motion and free vibrations
☞☞ Angular Displacement and angular velocity ☞☞ Frequency of vibration of a spring mass system

Introduction Vav =
δs
Kinematics of Curvilinear Translation δt
Motion of a particle describing a curved path is called ‘cur-
Its projections on the x and y co-ordinates are:
vilinear motion’.
1. Velocity and acceleration: The curvilinear motion δs δx δx
(Vav ) x = =
of a body ‘P’ may be imagined as the resultant of two δt δ s δt
rectilinear motions of its projections Px and Py on Ox
and Oy axis. δs δ y δ y
(Vav ) y = =
δt δ s δt
Velocity: Let us consider a body moving through a
distance ds from position P to P1 along a curved path δx δy
in time dt. Now, and are the average velocities of the
δt δt
Y projections Px and Py in the direction of their respec-
P1
v v + δv
tive co-ordinates.
If dt approaches zero, Vav becomes the instan-
x O δs δy dv
(dv)y
P δλ taneous velocity. Instantaneous velocity at P,
V (dv)x
s δ d
y v + dv V = lim s = s and its direction will be tangential
δ t →0 δ t dt
O to the path at position P.
O Px X dx
Similarly, Vx =
Consider PP1 as a chord instead of an arc, we have: dt

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 Chapter 5  ■  Curvilinear Motion  |  3.79

dy From the given figure, it is observed that Pp =

Vy = instantaneous velocity V at position P.
dt
By resolving dV into two components (pq) in the
Total velocity V = Vx 2 + Vy 2 direction tangential at P and qq′ in the direction nor-
mal at P as shown in the figure.
Acceleration: The average acceleration during the Tangential acceleration:
δ
interval t aav = v . a = lim
tangential change in velocity
= lim
pq
δt δ t →0 δ t
δ t →0 δt
From the triangle Pqq′;
The direction will be same as that of the change of
pq = Pq - Pp = (V + dv) cos dq - V = V + dV - V =
velocity dv.
dV (dq being very small, cos dq = 1)
The projections of aav on x and y co-ordinates will
δ vy δv dv
δ vx Then, at = lim =
be and . δ t →0 δ t dt
δt dt
qq′
Now, normal acceleration: an = lim
When dt approaches zero, the instantaneous δ t →0 δ t
acceleration: qq′ = pq sin dq = (V + dV)dq
δ v dv (dq being small dq = dq in radians)
a = lim =
δ t →0 δ t dt
= Vdv + dvdq = vdq
d ds d 2 s
a= = (dq and dv being very small, their product will be
dt dt dt 2
negligible)
Similarly, the components of the instantaneous accel- From the given figure, OPP1:
eration a are:
d2x PP1 δ s
ax = 2 δθ = =
dt r r
d2 y Vδs
ay = qq′ =
dt 2 r
Substituting qq′ in equation, we have:
a = ax2 + a 2y
Vδs
an = lim
2. Tangential and normal acceleration: A particle δ t →0 rδ t
moves on a curved path. From position P, it covers a
distance ds to position P1, in the time interval dt, such V ds
an = × ,
that at position P the instantaneous velocity is V, and r dt
at position P1 it is (V + dV).
ds
v p
 But =V
P q
dt
δs δθ
P1 δy V2
\ an =
r v + δv r
δθ q′
Normal acceleration is also known as ’centripetal
acceleration’.
O

NOTE
Resolving the acceleration into two components:
During the motion of a particle along a curved path there
(a)  Tangential to the path at the position P. is a change in the direction of its velocity from instant to
(b)  Normal to the path at position P. instant with or without any change in magnitude. When
Let, r be the radius of the curved path PP1, and dq both magnitude and direction of velocity change, the par-
be the angle subtended at the centre O. ticle has the tangential and normal acceleration. When
Let, q be the angle included between the normals there is only change in the direction of velocity, the parti-
at P1 and P. cle has only normal acceleration.

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 3.80  |  Part III  ■  Unit 1  ■  Engineering Mechanics

SOLVED EXAMPLE Integrating both sides, we have:

Example 1 ∫ Vx dt = ∫ (2t − 4) dt
The equation of motion of a particle moving on a circular t2
path, radius 400 m, is given by S = 18t + 3t2 + 2t3. Where x = 2× − 4t + C1 = t2 - 4t + C1
2
S is the total distance covered from the starting point, in
metres, till the position reached at the end of t seconds.
∫ Vy dt = ∫ (3t 2 − 8t + 8) dt
(i)  The acceleration at the beginning is:
(A) 6 m/s2 (B) 5 m/s2 t3 t2
2 y = 3× − 8 × + 8t + C2 = t 3 − 4t 2 + 8t + C2
(C) 10 m/s (D) 7 m/s2 3 2
(ii) The time when the particle reaches its maximum where C1 and C2 are constants.
velocity is:
Given, x = 4, y = -8, when t = 0.
(A) 0.5 seconds (B) 0.6 seconds
Substituting for x, y and t in equation 4 = 0 - 0 + C1;
(C) 0.8 seconds (D) 0.95 seconds
\ C1 = 4
(iii)  The maximum velocity of the particle is: -8 = 0 - 0 + 0 + C2
(A) 19.58 m/s (B) 20.53 m/s \ C2 = -8
(C) 18.65 m/s (D) 13.5 m/s Now, the equations of displacement are x = t2 - 4t + 4 and
y = t3 - 4t2 + 8t - 8
Solution x = (t - 2)2
(i)  Given, S = 18t + 3t2 - 2t3 1
dS x2 = t − 2
V= = 18 + 6t - 6t2
dt
t = x1/ 2 + 2 (1)
d2s
   From the equation, a = 2 = 6 − 12t y = t3 - 4t2 + 8t - 8(2)
dt
   At the beginning, when t = 0, Substituting the value of t from Eq. (1) to Eq. (2), we get:
  Acceleration:
y = x 3/ 2 + 4 x1/ 2 + 2 x
a = 6 - 0 = 6 m/s2.
   Hence, the correct answer is option (A). Hence, the correct answer is Option (D).
(ii) For determining the condition for maximum velocity,
we have:
d2s
dt 2
= 6 − 12t = 0 = 0.5 seconds Projectile Motion
   Hence, the correct answer is option (A). Definitions
1. Projectiles: A particle projected at a certain angle is
(iii) When t = 0.5 s,
called ‘projectile’.
Vmax = 18 + 3 - 1.5 = 19.5 m/s
2. Angle of projection: Angle between the direction of
   Hence, the correct answer is Option (A). projection and the horizontal plane through the point
of projection is called the angle of projection. It is
Example 2
denoted by a.
A particle moving along a curved path has the law of motion
3. Trajectory: The path traced out by a projectile is
Vx = 2t - 4, Vy = 3t2 - 8t + 8 where Vx and Vy are the rec-
called the trajectory of the projectile.
tangular components of the total velocity in the x and y
co-ordinates. The co-ordinates of a point on the path at an 4. Velocity of projection (u): The initial velocity of
instant when t = 0, are (4, -8). The equation of the path is: projectile is the velocity of projection.
(A) x2 + 3x - 2 (B) x3 + 4x + 2 5. Time of flight (T): The total time taken by a projectile
(C) x1/ 2 + 3 x + 2 (D) x 3/ 2 + 4 x1/ 2 + 2 is termed as the time of flight.
6. Horizontal range (R): It is the distance between the
Solution point of projection and the point where a trajectory
Vx = 2t - 4 meets the horizontal plane.
Vy = 3t2 - 8t + 8

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 Chapter 5  ■  Curvilinear Motion  |  3.81

Equations of the Path of Projectile Motion of a Projectile on an Inclined

Plane
Y
Consider the motion of projectile with an initial velocity u
C(vertex) and making an angle a with the horizontal on an inclined
u plane of inclination q, taking the coordinate axes x, y the
P expressions for the distance r and height h can be derived.

y u

a
r
O B A X
x a h = r sin q
q

P is the position occupied by a projectile after t seconds, r cos q

and x and y are the two co-ordinates of P along the X-axis
and Y-axis. x = u(cos a)t = r cosq
Along the X-axis, ux = u cos a 1
Along the Y-axis, uy = u sin a y = u(sin α )t − gt 2 = h = r sin θ
2
The component ux remains constant all throughout uy
retards due to the action of gravitational force. By eliminating t, we get:
We know, S = vt, for horizontal motion gr 2 cos 2 θ
r sin θ = r cos θ tan α − .
x = u cos a xt 2u 2 cos 2 α
x
t=
u cos α 2u 2 cos 2 α
⇒r= (tan α − tan θ ). (1)
1 2 g cos θ
S = ut + at ,  for vertical motion.
2 ∴ The distance r is given by Eq. (1), and thus the height
1
Therefore, y = u sin at - gt2 ‘h’ and the distance on the horizontal plane can be found.
2 That is, h = r sin q and x = r cos q
Substituting value of t, we can write: The maximum range possible on the inclined plane is
x 1 x2 found out by differentiation of Eq. (1) with respect to a and
y = u sin α − g 2
u cos α 2 u cos 2 α equating it to zero.
∴ tan 2a = – cot q
gx 2 ∴ For maximum range the angle made by the velocity
y = x tan α −
2u 2 cos 2 α θ
vector a should be equal to (45° + ) with the horizontal
This is the equation of the path of a projectile which rep- 2
resents a parabola. plane.
Horizontal range:
2u 2 u 2 sin 2α
R=
g
sin α cos α =
g
Apparent Weight in a Lift
Consider a body of mass m kg which is carried by a lift
 2u sin α  moving downward. If a (m/s2) is the acceleration of the lift,
Time of flight, T =  
 g   a
then the apparent weight of the body = 1 −  N .
Maximum height when the vertical component of the  g
velocity is zero.
uy2
v y = 0. ymax = Example 3
2g
Find the least initial velocity which a projectile may have,
u 2 sin 2 α so that it may clear a wall of 3.6 m high and 6 m distant and
ymax = ,(since, uy = u sin a) strike the horizontal plane through the foot of the wall at a
2g
distance of 3.6 m beyond the wall. The point of projection
Co-ordinates of vertex C: positioned at the same level as the foot of the wall. (take
u 2 sin 2 α u 2 sin 2 α g = 9.81 m/s2)
,
2g 2g (A) 10.2 m/s (B) 11 m/s
(C) 12 m/s (D) 13.5 m/s

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 3.82  |  Part III  ■  Unit 1  ■  Engineering Mechanics

Solution   (i) 
The distance from the target where the bomb must be
Let u be the least initial velocity of the projectile, and a be released in order to hit the target, is
the angle of projection with the horizontal plane. (A) 428.35 m
Horizontal range of projectile: R = 6 + 3.6 = 9.6 m (B) 450.54 m
(C) 580.2 m
2u 2 sin α cos α (D) 800 m
R=
g
(ii) The velocity at which the bomb hits the target, is
2u 2 sin α cos α (A) 143 m/s
9.6 =
g (B) 148 m/s
9.6 g (C) 150 m/s
u2 = (D) 161.2 m/s
2 sin α cos α
4.8 g × sec 2 α Solution
u2 = (1)
tan α   (i) 
Let B be the point of target and A be the position of
Equation for the path of projectile: the aeroplane. The bomb is released from A to hit at
gx 2 point B. The horizontal component of the bomb veloc-
ymax = x tan a - ity, which is uniform, is:
2u 2 cos 2 α
62 g 108 × 1000
3.6 = 6 tan α − 2 V = 108 km/h = = 30 m/s
2u cos 2 α 60 × 60
2
substituting for u , we have: Considering the vertical component of the bomb veloc-
6 2 tan α ity at position A, u = 0, g = 9.81 m/s2
3.6 = 6 tan a −
9.6
1 2
S= gt
2
 62 
3.6 = tan α 6 −  Let t be the time required to hit point B, then
 9.6  1
1000 = × 9.81 × t 2
3.6 = 2.25 tan α 2
3.6
tan α = = 1.6 2000
2.25 t2 = = 203.87
9.81
a = 57.9°
From Eq. (1): t = 14.278 seconds
Horizontal distance covered by the bomb, S = Vt =
4.8 g × sec 2 57.9 4.8 g × 3.54 30 × 14.278 = 428.35 m, i.e., the bomb is released
u2 = = = 104.57
tan 57.9 1.594 from plane when the horizontal distance is 428.35 from
u = 10.2 m/s point B.
Hence, the correct answer is option (A). Hence, the correct answer is option (A).
(ii) 
Vertical component velocity at
B = u + gt = 0 + 9.81 × 14.278
Example 4 = 140.06 m/s
An aeroplane is moving horizontally at 108 km/h at an alti- Resultant velocity at
tude of 1000 m towards a target on the ground which is B= 30 2 + 140.06 2
intended to be bombed.
= = 20518.8 143 m /s
108 mph
Hence, the correct answer is option (A).

Example 5
1000 m
A ball weighing 10 N starts from position A, as shown in
the figure, and slides down a frictionless chute under its own
weight. After leaving the chute 1 at point D, the ball hits the
B wall as shown in the figure.

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 Chapter 5  ■  Curvilinear Motion  |  3.83

Wall
Here, u = VD = 5.42 m/s
1
1m A = 5.42 × 0.922 – × 9.81(0.922) 2
Ball 2
V sin 60
= 4.327 - 4.169 = 0.158 m
1.5 m
Hence, the ball will hit the wall 0.158 m above the
60°
B D V cos 60 point D after 0.922 second.

2.5 m
Hence, the correct answer is option (B).
1.5 m
C
Example 6
From the top of a 60 m high tower, a bullet is fired at an
  (i) 
The time interval of the ball’s travel from the point D to angle of 60° with the horizontal plane. The initial velocity
the point of hit is of the bullet is 120 m/s (as shown in the figure). Neglect air
(A) 0.88 second (B) 0.92 second resistance.
(C) 0.733 second (D) 0.898 second
120 m/s
(ii) 
The distance on the wall above: the point D to the point D
B θ
of hit is h
A 60 v
(A) 0.21 m (B) 0.158 m
(C) 0.32 m (D) 0.168 m

Solution 60 m
  (i) 
The ball starts from point A. The vertical distance from Tower
A to C is equal to 3 m. Considering the motion of ball
from A to C,
C
V 2 = 2as
(i) 
The maximum height the bullet would attain from the
Since initial velocity is zero, a = g = 9.81 m/s2 ground is:
or VC 2 = 2 × 9.81 × 3 (A) 528 m (B) 611 m
(C) 680 m (D) 720 m
VC = 7.67 m/s,
(ii) 
The velocity of the bullet, 12 seconds after it is fired, is
This is the velocity of the ball at C. (A) 55 m/s (B) 58 m/s
The motion of the ball from C to D. (C) 61 m/s (D) 80 m/s
VD 2 = VC 2 − 2 as 7.672 = 2 × 9.81 × 1.5 = 58.82
Solution
- 29.43 = 29.39   (i) Height
VD = 5.42 m/s
On reaching at point D, the horizontal component of u 2 sin 2 α
h=
the velocity of the ball 2g
1 120 × 120 × (sin 60) 2
= V cos 60 = 5.42 × = 2.71 m/s =
2 2 × 9.81

Let t be the time taken by the ball to hit the wall from 3 3
120 × 120 × ×
point D. Then, = 2 2
2 × 9.81
2.5 10800
=t = 0.922 second = = 551 m
2.71 2 × 9.81
Maximum height above the ground = 551 + 60 = 611 m.
Hence, the correct answer is option (B).
(ii) 
Finally, considering the vertical motion of the ball Hence, the correct answer is Option (B).
beyond the point D, (ii) 
Time of travel up to the highest point B is given by
1 2 u sin α 120 × sin 60
S = ut − gt t= = = 10.6 s.
2 g 9.81

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 3.84  |  Part III  ■  Unit 1  ■  Engineering Mechanics

Let D be the point reached by the bullet, 12 seconds Relation between Linear Velocity
after it is fired. Time taken by the bullet to reach point and Angular Velocity
B from A (point from where it was fired) = 10.6 s.
So, time taken by the bullet to travel from point B to Linear displacement
point D = 12 – 10.6 = 1.4 s. Let V = Linear velocity =
Time
Horizontal velocity at B, VH = 120 cos 60° = 120 ×
But, linear displacement = Arc PQ = OP × q = rq
0.5 = 60 m/s
The vertical velocity after 1.4 s of travel from point B, r ×θ
V= = r × Angular velocity
1 t
VV = 0 + × 9.81× 1.4 2 = 9.62 m/s
2  θ 
Velocity at point D: ∵ t = Angular velocity 
 
V = VH 2 + Vv 2 V=r×w
Where, w = Angular velocity.
= 60 2 + 9.622 = 60.8 m/s.
Hence, the correct answer is option (C). Angular Acceleration
It is defined as the rate of change of angular velocity. It
is measured in radians per sec2 and written as rad/s2. It is
Kinematics of Rotation denoted by the a symbol.
When a moving body follows a circular path it is known as
a = Rate of change of angular velocity
circular motion. In circular motion, the centre of rotation is
stationary. dω d  dθ   dθ  d 2θ
a= =   ∵ω =  = 2 .
dt dt  dt   dt  dt
Angular Displacement Also,
dω dω dθ
= × =
dω
×ω = w
dω
and Angular Velocity dt dθ dt dθ dθ
It has two components
Angular displacement is defined as the change in angular
position (usually referred as the angle q) with respect to V2
Normal component = = ω 2 r , and tangential
time. r
Angular velocity is defined as the rate of change of angu- dV dω
component = =r = rα
lar displacement with respect to time. Let a body, moving dt dt
along a circular path, be initially at point P and after time t If a is the linear acceleration, then:
seconds be at point Q.
a = rα
Let ∠POQ = q
Then, angular displacement = ∠POQ = q.
Equations of Motion along
Q a Circular Path

q ω − ω0
P α=
O r t

1
θ = ω0t + α t 2
2
Time taken = t ω 2 − ω0 2 = 2αθ
Angular displacement θ
Angular velocity = = If N is the rpm:
Time t
dθ
Mathematically, it is expressed as . 2π N
dt ω= rad/s
60
It is denoted by the symbol w.
2π N π DN
v = rω = ×r = m/s
dθ 60 60
ω=
dt
Where
It is measured in radian/sec or rad/s. w0 = Initial angular velocity in cycles/s

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 Chapter 5  ■  Curvilinear Motion  |  3.85

w = Final angular velocity in cycles/s 1

t = Time (in seconds) during which angular velocity 2p × 60 = (2.094 × 80) + α (80) 2
2
changes from w0 to w
2p × 60 = 167.52 + 3200a
V = Linear speed in m/s
2π 60 − 167.52
The rotational speed is N revolutions per minute or a=
3200
N rpm.
    = 0.065 rad/s2
Example 7 Let w be the angular velocity at the end of 80 seconds
A wheel rotates for 5 seconds with a constant acceleration in rad/s. Then w = w0 + at
and describes during the time 100 radians. It then rotates w = 2.094 + (0.065 × 80) = 7.294 rad/s
with a constant angular velocity and during the next 5 Hence, the correct answer is option (A).
seconds, it describes 70 radians. The initial angular velocity 2π × N
and angular acceleration are: (ii) 7.294 =
(A) 15 rad/s, 2.5 rad/s2 (B) 13 rad/s, 2 rad/s2 60
(C) 15 rad/s, -2 rad/s
2 (D) 26 rad/s, -2.4 rad/s2              N = 69.65 rpm
          w1 = w0 + at1
Solution 2π × 100
Where w1 = rad/s
Angular velocity 60
θ 70             = 10.466 rad/s
w= = = 14 rad/s
t 5          10.466 = 2.094 + 0.065 × t1
a is constant angular acceleration and w0 be initial angular 8.372
                          t1 = = 128.8 s = 2.14 minutes.
velocity. 0.065
1
q = w0t + α t 2 Hence, the correct answer is option (B).
2
1 Example 9
100 = (ω0 5) + α × 52
2 As shown in the figure, a circular disc having mass m and
5w0 + 12.5a = 100(1) radius r is rolling down a rough inclined plane. Find the
w = w0 + at acceleration of the centre of disc and limiting value of co-
14 = w0 + 5a (2) efficient of friction, assuming pure rolling.
Solving Eqs. (1) and (2):
w0 = 26 rad/s
a = -2.4 rad/s2(Retardation)
Hence, the correct answer is option (D).
α
Example 8
A wheel rotating about a fixed axis at 20 rpm is uniformly
accelerated for 80 seconds during which time it makes 60 Solution
revolutions. For pure rolling motion, use the principle, Rolling motion
  (i) The angular velocity at the end of the time interval. = Translation of geometric centre + Rotation motion of any
(ii) The time required for the speed to reach 100 rpm. point on the circumference. In case of pure rolling, the disc
(A)  3.65 minutes (B) 2.14 minutes will roll out the surface without slipping.
(C)  1.85 minutes (D) 2.58 minutes
N y
Solution θ
1 2 Direction F = μN x
(i) q = w0t + αt of motion O
2
α
w0 = initial angular velocity mg sinα mg cosα
2π × 20 mg
w0 = = 2.094 α
60

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 3.86  |  Part III  ■  Unit 1  ■  Engineering Mechanics

Let a be the acceleration of the centre of gravity ‘O’ in is equal and opposite to the centrifugal force that is directed
the disc. away from the centre of curvature. If r is the radius of the
Now, the equation of motion of the disc is: Translation circular path, v is the linear velocity, w is the angular veloc-
motion of parallel to inclined plane is given by (Using ity and t is the time, then:
D’Alembert’s principle). dω
ma = ma sin a – F = mg sin a – m N Angular acceleration =
dt
= mg sin a – m mg cos a [N = mg cos a]
[F = mN = m mg cos a] dω
Tangential acceleration = r
⇒ a = g (sin a – m cos a) dt
⇒ x = g (sin a – m cos a) v2
Now, angular velovity of disc = q, Normal acceleration = = ω 2r
r
dθ
angular acceleration = = q (or a) W v2 W 2
dt Centripetal or centrifugal force = × = ω r.
1 g r g
Interia torque = I q mr2 q
2
(where I = MOI of disc) Laws for Rotary Motion
For rotation of the disc rotational Moment or torque; First Law
M = I × Angular acceleration.
It states that a body continues in its state of rest or of rotation
1
Hence, mr2 q = Fr about an axis with constant or uniform angular velocity unless
2 it is compelled by an external torque to change that state.
⇒ mr2 q = 2F
2F Second Law
⇒ r2 q =
m It states that the rate of change of angular momentum of a
2F rotating body is proportional to the external torque applied
⇒x= [a = ra ⇒ x = rq](2)
m on the body and takes place in the direction of the torque.
From Eqs. (1) and (2), we have: I = Mk2,
2F Where
= g sin a – mg cos a M = Mass of the body, and k = Radius of gyration
m = Moment of inertia × Initial angular velocity
⇒ 2F = mg sin a – mg cos a = mg sin a – F Initial angular momentum = Iw0
mg Final angular momentum = Iw
⇒ 3F = mg sin a ⇒ F sin a
3 Change of angular momentum = I(w – w0)
mg Rate of change of angular momentum
Ma = mx mg sin a – F = mg sin a – sin a
3 Change of angular momentum
Hence, =
2 Time
g sin a
3
2 (ω − ω0 )  ω − ω0 
⇒ x = g sin a I = Ia ∵ α = t = Angular acceleration 
3 t  
Now, F ≤ mN (for limiting case) [m = Coefficient of roll- From the second law of motion of rotation,
ing friction] torque a is the rate of change of angular momentum.
mg T = Ia
⇒ mmg cos a ≥ sin a
3 T = KIa,
1 where, K is a constant of proportionality. SI unit of
⇒ m ≥ tan a.
3 torque is Nm.

Curvilinear and Rotary Motion Kinetics

Angular Momentum or Moment
For a particle or a body moving in a curved path with
particular emphasis to the circular path comes under this of Momentum
section. Moment of momentum of the body about O = Iw, where the
In order to maintain the circular motion, an inward radial rigid body undergoes rotation about O.
force called ‘centripetal force’ is acted upon the body, which Angular momentum is the moment of linear momentum.

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 Chapter 5  ■  Curvilinear Motion  |  3.87

Rotational Kinetic Energy g (W1 − W2 )

a=
1  W0 
Rotational kinetic energy = I ω 2 . W1 + W2 + 2 
2  
Angular Impulse or Impulsive Torque
Angular impulse or impulsive torque = Idw. Example 10
In a pulley system, as shown in the figure, the pulley weighs
Work Done in Rotation 20 N and its radius of gyration is 40 cm. A 200 N weight is
attached to the end of a string and a 50 N is attached to the
Work done in rotation = T × q.
end of the other string as shown in the figure.

Kinetic Energy in Combined Motion

1 2
Kinetic energy due to translatory motion = mv 42 cm
2 14 cm
1
Kinetic energy due to rotation = I ω 2
2
Kinetic energy due to combined motion 50 N
200 N

1 2 1   (i) 
The torque to be applied to the shaft to raise the 200 N
= mv + I ω 2
2 2 weight at an acceleration of 1.5 m/s2, is
(A) 6812 N-cm (B) 9136 N-cm
(C) 700 N-cm (D) 7832 N-cm.
Conservation of Angular Momentum
The law of conservation of angular momentum states that (ii) The tensions in the strings are
the angular momentum of a body or a system will remain (A) 170.4 N, 35.6 N (B) 180 N, 40 N
unaltered if the external torque acting on it is zero. (C) 190.2 N 35 N (D) 180.6 N, 42.34 N

Solution
  (i) Moment of inertia of the pulley
D’Alembert’s Principle W 2
I= k
for Rotary Motion g
D’Alembert’s principle for rotary motion states that the sum 20
I= × ( 40) 2 Ncm 2 = 32.62 N cm2
of the external torques (also termed as active torques) acting 981
on a system, due to external forces and the reversed active
T1 = Torque produced by 200 N
torques including the inertia torques (taken in the opposite
= 200 × 42 = 8400 N-cm
direction of the angular momentum) is zero.
T2 = Torque developed by 50 N = 50 × 14
Suppose a disc of moment of inertia I rotates at an angu-
= 700 N-cm
lar acceleration a under the influence of a torque T, acting
Inertia torque due to angular rotation of the pulley with
in the clockwise direction. Inertia torque = Ia (acting in the
angular acceleration:
anti-clockwise direction)
a = Ia
From D’Alembert’s principle, T - Ia = 0, the dynamic
= 32.62 a N-cm.
equation of equilibrium for a rotating system.
Torque due to inertia force on
Rotation caused by a weight ‘W’ attached to one end of a
string passing over a pulley of weight W0. 200 200
200 N = (ma) r = rα r = × α × ( 42) 2
  From D’Alembert’s principle, it can be shown that 981 981
gW = 359.63a N-cm
a= , when the pulley is considered as a disc. Torque due to inertia force on 50 N
 W0 
W + 2  50
  = × α × 14 2 = 9.99 a N-cm
981
Rotation caused due to two weights W1 and W2 attached Let T be the torque applied to the shaft.
to the two ends of a string which passes over a rough pulley For dynamic equilibrium, ∑T = 0
of weight W0. T + 700 = 8400 + 32.62a + 359.63a + 9.99a

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 3.88  |  Part III  ■  Unit 1  ■  Engineering Mechanics

T = 8400 + 312.33 = 9136 N-cm, Therefore,

1. Sum total of external forces acting on a body:
150
since a = = 3.57 rad/s 2 . d
42 SF = ( mv )
dt
Hence, the correct answer is option (B).
(ii) 
Let F1 and F2 be the tensions in the strings. Applying  = Rate of change of linear momentum.
D’Almbert’s principle for linear motion, we get: 2. Sum total of external momentum acting on a body:
d
200 SM = ( L) = L
F1 - 200 - × 1.5 = 0 dt
9.8
d
also M = ( mvr )
50 dt
F2 + 50 − F2 = × 1.5
9.8 d
= ( mω r 2 )
200 dt
F1 = 200 + × 1.5 = 200 + 22.96
9.8 dω
∑M = I = I ω = I α.
= 180.6 N dt
Described above are the bases for Euler’s equations.
50 × 9.8 − 50 × 1.5
F2 = = 42.34 N Angular momentum L can be considered as a vector
9.8 which has a local variation within a local reference frame
Hence, the correct answer is option (D). as well as a variation due to its rotation about a global refer-
ence frame with an angular velocity (say, W)
Then, SM = L
= L x , y , z + Ω × L
Euler’s Equation of Motion
When the body is fixed to the local reference frame, W
According to Newton’s second law of motion, when a force
= w, the angular velocity of the body.
F is applied on a particle:
The above equation can be stated as:
F = m × a
dv ∑ M = I ω + ω × ( I ⋅ ω )
=m×
dt In three-dimensional, principal orthogonal coordinates,
Where individual components of the equation are:
m = Mass of the particle
v = Velocity ΣM x = L x − Lyω z + Lzω y
a = Acceleration
ΣM y = L y − Lzω x + Lxω z
d
The above is equivalent to F = ( mv ) where mv
dt ΣM z = L z − Lxω y + Lyω x
= momentum of the particle Newton’s law deals with
particles. When a force is applied to a rigid body, If the coordinate axes are chosen such that they coincide
the same law can be applied, treating the whole mass with principal axes, the angular momentum terms can be
of the body concentrated at the centre of mass of related to the principal moments of inertia and the following
the body. expressions can be obtained:
A rigid body can have rotational translation as well as a ΣM x = I xxω x − ( I yy − I zz )ω yω z
linear translation. So, a particle in the body can be subjected
to angular momentum as well as linear momentum. ΣM y = I yyω y − ( I zz − I xx )ω xω y
Angular momentum of a particle: ΣM z = I zzω z − ( I xx − I yy )ω xω y
L = Moment of momentum = r × mv, where r = Distance
from centre of mass. The above equations are known as Euler’s equation of
motion and find application in rigid body dynamics.
Torque or moment:
M = Force × Distance from axis of rotation
=F×r Simple Harmonic Motion
=
d
( mvr ) =
d
( L) and Free Vibrations
dt dt Simple harmonic motion: It is defined as the type of
= Rate of change of angular momentum motion in which the acceleration of the body in its path of

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 Chapter 5  ■  Curvilinear Motion  |  3.89

motion, varies directly as its displacement from the equilib- This is of the form, a = −ωn 2 y
rium position and is directed towards the equilibrium point.
sg g ω
Oscillation, Amplitude, where ωn 2 = = , d being
w δ s
Frequency and Period ωn 1 g
Frequency, f = = .
Y
P 2π 2π δ

w
y

X′ O M X 2 2
x w

Y′
0 0
w
In the given figure, when a particle P is describing a circu-
lar path, M being the projection of P, it describes a simple y
harmonic motion.
The motion of M from X to X ′ and back to X is called an 1 1
w
oscillation or simple harmonic motion.
OX = OX ′ is the amplitude
This amplitude is the distance between the centre of Oscillations of a Simple Pendulum
simple harmonic motion and the point where the velocity
is zero. 1 l
Period of oscillation, T = = 2π (for 2 beats) l =
The period of one complete oscillation is the period of f g
simple harmonic motion. Length of pendulum. Half of an oscillation is called a beat or
Thus, the period of simple harmonic motion is the time swing. A pendulum executing one half oscillations per sec-
in which M describes 2p radians at w rad/s. ond is called seconds pendulum. Time of one beat or swing
2π
T= , where T is the time period in seconds. l T l
ω =π = . For n number of beats, time = nπ
⋅
. For a
g
⋅

2 g
Velocity and Acceleration compound pendulum:
The simple harmonic displacement,
KG 2 + h2
X = r sin wt T = 2π
gh
v = ω r 2 − x2
d2x where, h is the distance between the point of suspension and
Acceleration = = −ω 2 r sin ωt
dt 2 centre of gravity. Where, kG = radius of gyration about O,
a = -w2x the centre of suspension. A compound pendulum is a rigid
body free to oscillate about a smooth horizontal axis pass-
1 a
Frequency = . ing through it.
2π
⋅

x A simple pendulum whose period of oscillation is the

same as that of a compound pendulum is called a simple
Frequency of Vibration equivalent pendulum.
of a Spring Mass System
kG 2
Consider a helical spring subjected to a load W. The static L= + h.
h
equilibrium position is 00. Let S be the stiffness of the
spring which is defined as force required to cause one unit
extension. If the weight is displaced and stretched to posi- Example 11
tion 1–1′ by an amount ‘y’, as shown in the figure, then the A body performing simple harmonic motion has a velocity
acceleration at which the load springs back: 12 m/s when the displacement is 50 mm and 3 m/s when the
displacement is 200 mm, the displacement being measured
w
a = − sy from the mean position.
g   (i) Calculate the frequency of the motion.
s× g (A) 35 cycles/s (B) 40.5 cycles/s
\a= ⋅y
−W (C) 31.8 cycles/s (D) 35.5 cycles/s

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 3.90  |  Part III  ■  Unit 1  ■  Engineering Mechanics

(ii) 
What is the acceleration when the displacement is (ii) If ‘a’ be the acceleration when displacement x = 75 mm,
75 mm?
(A) 15 m/s2 (B) 16.5 m/s2  9 75 
a = w2x =  × = 15 m/s2.
2
(C) 13.8 m/s (D) 15.6 m/s2  0.045 1000 
Hence, the correct answer is option (A).
Solution
(i) In simple harmonic motion: Example 12
V2 = w2(r2 - x2) The number of seconds a clock would lose per day, if the
V = Velocity, r = Amplitude length were increased in the ratio 800 : 801 is:
x = Distance from mid-positions (A) 48 s (B) 54 s
x1 = 50 mm, x2 200 mm (C) 50 s (D) 60 s
V1 = 12 m/s V2 = 3 m/s
 Solution
 50  
2
122 = w2  r 2 −   Given, l = 800 units
  1000  
 l + dl = 801 units
 dl = 1 unit
 200  
2
32 = w2  r 2 −   (1)
  1000   dl
=
1

l 800
By dividing, we get:
dn − dl 1
1 = =
r − 2 n 2l 1600
144 400
= n 86400
9 4 dn = - =− = -54
r2 −
100 where n1600
= 86400,1600
as a seconds pendulum will beat 86400
1 times/day. The clock will loose 54 seconds in a day.
r2 −
400 Hence, the correct answer is option (B).
16 =
4
r2 −
100 Super Elevation
16 × 4 1 Whenever a roadways (or railways) is laid on a curved path,
16r2 - = r2 − its outer edge is always made higher than the inner edge to
100 400
keep the moving vehicles in equilibrium state. The amount
16 × 2 1 by which the outer edge is raised is known as ‘cant’ or
15r 2 = −
50 400 ‘super elevation’. In case of roadways, the process of pro-
viding super elevation is known as banking of the road. In
2 × 64 × 4 1 511 general practice, to define super elevation in roadways, is
15r2 = − =
400 400 400 to mention the angle of inclination (also known as angle of
banking) of the road surface, so that:
511 v2
r2 = = 0.085 tan q =
400 × 15 gr
r = 0.29 m = 290 mm. where v = Velocity of the vehicle, and r = Radius of circular
Putting the value of r2 in Eq. (1), we get: 9 = w2 path.
[0.085 − 0.04] In case of railways, the general practice is to define the
super elevation is to mention the difference of levels between
9 the two rails. in such a case, super elevation is given by:
w2 = ; w = 200 rad/s
0.045 Gv 2
S= ,
ω 200 gr
f = = = 31.83 cycles/s. where G = gauge of the track.
2π 2π

Hence, the correct answer is Option (C).

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 Chapter 5  ■  Curvilinear Motion  |  3.91

Exercises

Direction for questions 1 and 2: r1

A thin circular ring of mass 200 kg and radius 2 m resting (A) 1 : 1 (B)
r2
flat on a smooth surface is subjected to a sudden application
2
of a force of 300 N at a point of its periphery. r2
 r1  (D)
(C)
 
1. The angular acceleration is  r2  r1
(A) 0.75 rad s 2 (B) 1.5 rad s 2 7. A truck weighing 150 kN and traveling at 2 m/s impacts
(C) 2 rad s2 (D) 2.5 rad s2 with a buffer spring, which compresses 1.25 cm per 10
kN. The maximum compression of the spring is
2. The acceleration of mass centre is
(A) 1 m s 2 (B) 1.5 m s 2

(C) 2 m s 2 (D) 3 m s 2

3. A carpet of mass m made of an inextensible material is

rolled along its length in the form of a cylinder of radius
R and is kept on a rough horizontal floor. When a small (A) 20 cm (B) 22.85 cm
push, of negligible force, is given to the carpet, it starts (C) 27.65 cm (D) 30 cm
unrolling without sliding on the floor. The horizontal
velocity of the axis of the cylindrical part of the carpet Direction for questions 8 and 9:

is 63
gR when the radius of the carpet reduces to 300 mm
3
3R
(A) (B) R 4
4
(C) R5
R 2 (D)

4. A circular disc of radius ‘R’ rolls without slipping at

a velocity ‘V’. The magnitude of the velocity at point
P(see figure) is 50 N

R P
1000 mm 200 mm
30°
V

A band brake is used to control the speed of a flywheel

as shown in figure. The coefficient of friction between
the band and flywheel is 0.3. Radius of the flywheel is
300 mm. A force of 50 N is applied at the end of the
(A) 3 V (B) 3
V lever as shown in the figure.
2
8. Torque applied on the flywheel when it is rotating
V 2 clockwise is
(C) (D) V
2 3 (A) 262 Nm (B) 280 Nm
5. A stone is projected horizontally from a cliff at 10 m/s (C) 315 Nm (D) 326 Nm
and lands on the ground below at 20 m from the base of 9. Torque applied on the flywheel when it is rotating
the cliff. Find the height ‘h’ of the cliff. Use g = 10 m/s2. counter clockwise is
(A) 18 m (B) 20 m (A) 94 Nm (B) 82 Nm
(C) 22 m (D) 24 m (C) 76 Nm (D) 68 Nm
6. Two cars are going with constant speeds, round con- 10. A wheel at rest is accelerated uniformly from rest to
centric circles of radii r1 and r2 and take the same time 3000 rpm in 30 seconds. Its angular acceleration is
to complete their circular paths. Their speeds will cor- (A) 6.624 rad/s (B) 8.368 rad/s
respond to the ratio (C) 10.472 rad/s (D) 14.376 rad/s

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 3.92  |  Part III  ■  Unit 1  ■  Engineering Mechanics

11. If a projectile motion with usual notations is expressed (C) 25 (D) None of these
as 1 4. A 0.05 N bullet was fired horizontally into a
gx 2 50 N sand bag suspended on a rope 1 m long as shown
y = xP – (a = Angle of projection), then ‘P’
2u 2 Q 2 in the figure. It was found that the bag with the bullet
embedded in it swung to a height of 25 mm. Determine
and ‘Q’ are
the speed of the bullet as it entered the bag.
(A) tan a and cos2 a (B) tan a and cos a
(C) tan a and sec a (D) tan a and sec2 a
12. A hill has the shape of a right circular cone with vertex
angle 60°. A particle is projected from the base of the
hill such that it grazes the vertex and falls at the base of θ
1m
the hill just opposite to the starting point.
The angle of projection measured from horizontal is 25 mm
(A) 73.9° (B) 69.8°
(C) 64.4° (D) 61.7°
13. A stone of mass 1 kg is tied to a string of 1 m length (A) 700.7 m/s (B) 800.2 m/s
and whirled in a horizontal circle at a constant angular (C) 900.2 m/s (D) 920.7 m/s
speed of 5 rad/s. The tension (in N) in the string will be
(A) 5 (B) 10

Previous Years’ Questions

1. A circular disk of radius R rolls without slipping at a 2. An annular disc has a mass m, inner radius R and
velocity v. The magnitude of the velocity at point P outer radius 2R. The disc rolls on a flat surface without
(see figure) is [GATE, 2008] slipping. If the velocity of the centre of mass is v, the
kinetic energy of the disc is [GATE, 2014]
9 11 2
(A) mv 2 (B) mv
P
16 16
13 15 2
R (C) mv 2 (D) mv
30° v 16 16
3. Consider a steel (Young’s modulus, E = 200 GPa)
column hinged on both sides. Its height is 1.0 m and
cross-section is 10 mm × 20 mm. The lowest Euler
critical buckling load (in N) is ______.[GATE, 2015]
(A) 3 v (B)
3 v/2
(C)
v/2 (D) 2v/ 3

Answer Keys

Exercises
 1. A 2. B 3. B 4. A 5. B 6. B 7. C 8. B 9. D 10. C
11. B 12. A 13. C 14. A

Previous Years’ Questions

1. A 2. C 3.  3285 to 3295

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 Chapter 6

List of Formulae

CHAPTER HIGHLIGHTS

☞ List of formulae

LIst OF FOrMULAe • Components of a given force in two given directions:

• Resultant of forces acting in a straight line:

P
(a) Same direction: R = P + Q
(b) Opposite direction: R = P – Q R
Q Q
• Resultant of two concurrent forces: β
α
R = P 2 + Q 2 + 2 PQ cos θ P

Q sin θ
α = tan −1 • Resultant of number of co-planar concurrent forces:
P + Q cos θ R cos q = Σ pi cos qI = ΣH = X
R sin q = Σ pi sin qI = ΣV = Y
R X 2 +Y 2
P
y
θ = tan −1
x
Q • Resultant of co-planar parallel forces:
Q
R = ΣP1
α θ
ΣP1 X 1
P x=
ΣP1

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 3.94  |  Part III  ■  Unit 1  ■  Engineering Mechanics

where, x1 are distances of various forces from a reference

vR = u 2 + v 2
axis, x is the distance (perpendicular) of R from refer-
ence axis. du d 2 x dv d 2 y
a=
x = ; a=y =
Power arm dt dt 2 dt dt 2
•• Mechanical advantage of a lever =
Load arm •• Work done by a force field F(x, y, z) along path 1–2 is
•• Lami’s theorem: given by:
2
W1− 2 = ∫ F dr = V1 (x, y, z) – V2 (x, y, z)
1

Q where, V(x, y, z) is the potential energy function (scalar

χ P function).
•• For a conservation force field:
α β
∫ F ⋅ dr = 0, and
F = −∇V
R
•• Equation of trajectory:
1 x2
Y = x tan α − ⋅ 2
2 g u cos 2 α
P Q R (a) Motion of projectile up an inclined plane:
sin α sin β sin χ 2u sin(α − β )
Time of flight, T =
g cos β
•• Friction force:  F = m N; N = normal reaction
[b: Inclination of plane]
Total reaction; R = F2 + N2 Range up of the place:
(F′ = Fmax) 2u 2 cos α sin(α − β )
R=
F g cos 2 β
Angle of friction; θ = tan −1
N u2 π β
Rmax = at a = +
Also, m = tan q g (1 + sin β ) 4 2
•• Angle of repose: α = f (c) Motion of a projectile down a plane:
•• Work done by a varying force: 2u sin(α − β )
=
g cos β
s
w = ∫ F ⋅δ S 2u 2 cos α sin (α − β )
o R=
g cos 2 β
S = Total distance covered
u2
•• If a body freely falls from a height H, then velocity on Rmax =
reaching the ground; g (1 + sin β )
(d) Motion of a projectile projected horizontally at a
v = 2 gH height above the ground:
x = ut
•• If a body is projected vertically with initial velocity u, 1
U2 y = gt 2
then the maximum height attained by it is: H = 2
2g
x 2 2u 2
= = constant
•• Distance covered in the nth second y g
•• Elastic collision:  Both momentum and (Kinetic energy)
a
Dn = u + ( 2n − 1) are conserved
2
1
•• Motion of a particle in a plane m1u1 + m2u2 = m1v1 + m2v22
2
dx dy 1 1 1 1
=u = ; v m1u12 + m2u22 = m1v12 + m2v22
dt dt 2 2 2 2

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 Chapter 6  ■  List of Formulae  |  3.95

•• Inelastic collision:  Only momentum is conserved •• Momentum of inertia of a uniform circular disc:
m1u1 + m2u2 = m1v1 + m2v2 1
I = MR2
2
•• Coefficient of elasticity or restitution:
(About an axis perpendicular to plane of disc.)
v2 − v1 •• Moment of inertia of a thin uniform rod:
e=
u2 − u1 (a) About an axis passing through the centre of length
e = 1 for perfectly elastic bodies, e = 0 for plastic impact and perpendicular to the length:
•• Apparent weight in a lift: 1
I = Ml2
Upward moving lift: 2
(b) About its axis:
 a
weq = mg 1 +  n 1
 g I = MR2
2
Downward moving Lift: (c) Hollow rod:
 a I = MR2
weq = mg 1 −  n
 g •• Moment of inertia of hollow sphere:
•• Total kinetic energy of a body: 2
I= MR2
3
1 2 1 2
TE = mv + Iw •• Moment of inertia of solid sphere
2 2
•• Momentum of inertia of a thin circular ring: 2
I= MR2
(a) About an axis perpendicular to plane of ring: 5
I = MR2 •• Motion of a cylinder rolling without slipping on an
(b) About any diameter: inclined plane:
1
I = MR2 mg sin θ 2
2 a= = g sin θ [a < g ]
1 3
(c) About a tangent in the plane of ring: m+ 2
r
3
I = MR2 1
2 F = mg sin θ ; F < mg
(d) About a tangent perpendicular to the plane of ring: 3
1 1
I = MR2 µ = tan θ
2 3

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 3.96  |  Part III  ■  Unit 1  ■  Engineering Mechanics

Test
Engineering Mechanics Time: 60 Minutes
1. The value of coefficient of restitution is one for 9. Two forces form a couple only when
(A) perfectly elastic collision. (A) magnitude is same have parallel lines of action and
(B) perfectly inelastic collision. same sense.
(C) neither plastic nor elastic collision. (B) magnitude is different, have parallel lines of action
(D) None of these but same sense.
2. The radius of gyrations for a sphere and cylinder of (C)  magnitude is same have non parallel lines of
radius ‘R’ are respectively. action but same sense.
(A) 0.6324 R and 0.707 R (D) magnitude is same and have parallel lines of action
(B) 0.6234 R and 0.77 R and opposite sense.
(C) 0.6432 R and 1.414 R 10. A wheel is rolling on a straight road as shown below.
(D) 0.6324 R and 1.414 R For this wheel the acceleration of the center ‘O’ and its
3. Which of the following relation represents motion instantaneous centre are
under variable acceleration? B
dv dv
(A) v = a (B) a= v ω
ds ds
A C V
1 dv O
(C) v= (D) None of these
a ds D

4. If a projectile motion with usual notations is expressed

gx 2
is y = xP – (a = Angle of projection), then ‘P’
2u 2 Q 2 (A) ω2r and O (B) ω2r and D
(C) 2
V /r and D (D) zero and O
and ‘Q’ are
(A) tan a and cos2a (B) tan a and cos a 11. A particle moving from rest moves in a straight line. Its
(C) tan a and sec a (D) tan a and sec2a acceleration is given by the equation:
5. A mechanism has 5 numbers of joints and 6 members. a = 10 - 0.006S2
The number of additional members needed to make it a Velocity of the particle when it has travelled 40 m is
perfect frame will be (A) 19.16 m/s (B) 23.32 m/s
(A) 4 (B) 3 (C) 26.84 m/s (D) 30.14 m/s
(C) 2 (D) 1
12. B
6. The rate of change of velocity and the rate of change of
momentum of a moving body respectively are
(A) acceleration and impulse
(B) acceleration and force O
(C) displacement and force
(D) force and displacement
A
7. In the equation of virtual work, which of the following
force is neglected?
(A) Reaction at any smooth surface with which the A wheel of radius 1 m rolls on a flat horizontal ground
body is in contact without slipping as shown in figure. Resultant velocity
(B) Reaction of rough surface of a body which rolls on at point B is 1 m/s. Angular velocity of the wheel about
it without shipping its centre in rad/s is
(C) Reaction at a point on an axis fixed in space, 1 (B)
around which a body is constrained to turn. (A) 2
(D) All of these 2
(C) 1 (D) 1
8. Two metallic balls having potential energy in the ratio 2
3 : 5 are made to slide down a frictionless inclined 13. Acceleration of a particle is given by:
plane with zero position. What will be the ratio of their
a = t3 - 3t2 + 5
kinetic energy when they reach at bottom of inclined
plane? Where, t = time in seconds and a = acceleration in m/s2.
(A) 5 : 3 (B) 3 : 5 Velocity of particle when t = 2 second is 8 m/s. Velocity
(C) 1 : 1 (D) 2 : 3 of the particle when t = 4 second is

Part III_Unit 1_Chapter 06.indd 4 5/18/2017 3:23:49 PM

 Test  |  3.97

(A) 22 m/s (B) 25 m/s Direction for questions 21 to 23:

(C) 28 m/s (D) 32 m/s 10 kg

Direction for questions 14 and 15: A

14. A body of mass 5 kg falls from a height of 50 m and
penetrates into the ground by 90 cm. Average resistance
to penetration is
(A) 2668 N (B) 2774 N
(C) 2814 N (D) 2892 N
B 5 kg
15. Time taken for penetration is
(A) 19.7 second (B) 12.7 second
(C) 17.4 second (D) 15.4 second Block A of mass 10 kg placed on a rough horizontal
plane is connected to another block B of mass 5 kg
16. Angular displacement of a body is given by
by a string passing over a pulley as shown in figure.
q = 6t2 + 3t + 10 Coefficient of friction between block A and horizontal
Where t is in seconds. Angular velocity and angular plane is 0.25. If the system is released from rest and
acceleration of the body when t = 10 seconds are block B is falling,
(A) 123 rad/s, 12 rad /s2 21. Tension on the string is
(B) 135 rad /s, 14 rad /s2 (A) 28.43 N (B) 33.41 N
(C) 142 rad/s, 16 rad/s2 (C) 37.62 N (D) 40.88 N
(D) 153 rad/s, 18 rad/s2
22. Acceleration of block B is
(A) 1.268 m/s2 (B) 1.635 m/s2
Direction for questions 17 and 18: 2
(C) 1.824 m/s (D) 2.116 m/s2
A ball can be projected with a maximum velocity of
23. Velocity acquired by block B when it falls through a
50 m/s. On an inclined plane, the maximum range
vertical distance of 1 m, is
obtained on projecting the ball is 190 m.
(A) 1.24 m/s (B) 1.56 m/s
17. Inclination of the plane to the horizontal is (C) 1.81 m/s (D) 2.35 m/s
(A) 20° (B) 18°
(C) 16° (D) 14° Direction for questions 24 and 25:
18. The projection angle from horizontal is Angular displacement of a particle, moving in a circu-
(A) 68° (B) 65° lar path of 150 m radius is given by:
(C) 60° (D) 55°
q = 18t + 3t2 - 2t3
Direction for questions 19 and 20: 24. Angular acceleration at 2 seconds from start is
(A) 15 rad/s2 (B) 18 rad/s2
A projectile is fixed at an angle of 30° in a horizontal
(C) -15 rad/s (D)
2 -18 rad/s2
level ground with a velocity of 50 m/s.
25. Maximum angular velocity is
19. Time taken by the projectile to reach the ground after
(A) 16.4 rad/s (B) 19.5 rad/s
firing is
(C) 22.3 rad/s (D) 25.4 rad/s
(A) 9.8 second (B) 8.6 second
(C) 7.2 second (D) 5.1 second
20. Horizontal range of the projectile is
(A) 220.7 m (B) 208.5 m
(C) 192.6 m (D) 186.1 m

Answer Keys
1. A 2. A 3. B 4. B 5. D 6. B 7. D 8. B 9. D 10. D
11. B 12. D 13. A 14. B 15. C 16. A 17. A 18. D 19. D 20. A
21. D 22. B 23. C 24. D 25. B

Part III_Unit 1_Chapter 06.indd 5 5/18/2017 3:23:49 PM

 Engineering Mechanics Test 1
Number of Questions: 25 Time: 60 min.

Directions for questions 1 to 25: Select the correct alterna- 8. Two metallic balls having potential energy in the ratio
tive from the given choices. 3 : 5 are made to slide down a frictionless inclined
1. The value of coefficient of restitution is one for plane with zero position. What will be the ratio of their
(A) perfectly elastic collision kinetic energy when they reach at bottom of inclined
(B) perfectly inelastic collision plane?
(C) neither plastic nor elastic collision (A) 5 : 3 (B) 3 : 5
(D) None of these (C) 1 : 1 (D) 2 : 3
2. The radius of gyrations for a sphere and cylinder of 9. Two forces form a couple only when
radius ‘R’ are respectively. (A) magnitude is same have parallel lines of action
(A) 0.6324 R and 0.707 R and same sense
(B) 0.6234 R and 0.77 R (B) magnitude is different, have parallel lines of action
(C) 0.6432 R and 1.414 R but same sense
(D) 0.6324 R and 1.414 R (C) magnitude is same have non parallel lines of
action but same sense
3. Which of the following relation represents motion
(D) magnitude is same and have parallel lines of action
under variable acceleration?
and opposite sense
dv dv
(A) v = a (B) a=v 10. A wheel is rolling on a straight road as shown below.
ds ds
For this wheel the acceleration of the center ‘O’ and its
1 dv
(C) v = (D) None of these instantaneous center are
a ds
B
4. If a projectile motion with usual notations is expressed ω
is A C V
O
gx 2 D
y = xP – (a = Angle of projection), then ‘P’
2u 2 Q 2
and ‘Q’ are (A) ω2r and O (B) ω2r and D
(A) tana and cos2a (C) V /r and D
2
(D) zero and O
(B) tana and cosa 11. A particle moving from rest moves in a straight line. Its
(C) tana and sec a acceleration is given by the equation
(D) tana and sec2a a = 10 - 0.006 S2
Velocity of the particle when it has travelled 40 m is
5. A mechanism has 5 numbers of joints and 6 members.
(A) 19.16 m/s (B) 23.32 m/s
The number of additional members needed to make it a
(C) 26.84 m/s (D) 30.14 m/s
perfect frame will be
(A) 4 (B) 3 12.
(C) 2 (D) 1 B

6. The rate of change of velocity and the rate of change of

momentum of a moving body respectively are
(A) acceleration and impulse O
(B) acceleration and force
(C) displacement and force
A
(D) force and displacement
7. In the equation of virtual work, which of the following
force is neglected? A wheel of radius 1 m rolls on a flat horizontal ground
(A) reaction at any smooth surface with which the without slipping as shown in figure. Resultant velocity
body is in contact at point B is 1 m/s. Angular velocity of the wheel about
(B) reaction of rough surface of a body which rolls on its centre in rad/s is
1
it without shipping (A) (B) 2
(C) reaction at a point on an axis fixed in space, around 2
which a body is constrained to turn. 1
(C) 1 (D)
(D) All of these 2
3.6 | Engineering Mechanics Test 1

13. Acceleration of a particle is given by 19. Time taken by the projectile to reach the ground after
a = t3 -3t2 + 5 firing is
Where t = time in seconds and (A) 9.8 s (B) 8.6 s
a = acceleration in m/s2. Velocity of particle when (C) 7.2 s (D) 5.1 s
t = 2 sec is 8 m/s. Velocity of the particle when t = 4 20. Horizontal range of the projectile is
sec is (A) 220.7 m (B) 208.5 m
(A) 22 m/s (B) 25 m/s (C) 192.6 m (D) 186.1 m
(C) 28 m/s (D) 32 m/s
Common Data for Questions 21 to 23:
Statement for Linked Data Questions 14 and 15: 10 kg

14. A body of mass 5 kg falls from a height of 50 m and A

penetrates into the ground by 90 cm. Average resistance
to penetration is
(A) 2668 N (B) 2774 N
(C) 2814 N (D) 2892 N
15. Time taken for penetration is B 5 kg
(A) 19.7 s (B) 12.7 s
(C) 17.4 s (D) 15.4 s Block A of mass 10 kg placed on a rough horizontal plane is
connected to another block B of mass 5 kg by a string pass-
16. Angular displacement of a body is given by ing over a pulley as shown in figure. Coefficient of friction
q = 6t2 + 3t + 10 between block A and horizontal plane is 0.25. If the system
Where t is in seconds. Angular velocity and angular is released from rest and block B is falling,
acceleration of the body when
21. Tension on the string is
t = 10 seconds are
(A) 28.43 N (B) 33.41 N
(A) 123 rad/s, 12 rad /s2
(C) 37.62 N (D) 40.88 N
(B) 135 rad /s, 14 rad /s2
(C) 142 rad/s, 16 rad/s2 22. Acceleration of block B is
(D) 153 rad/s, 18 rad/s2 (A) 1.268 m/s2 (B) 1.635 m/s2
(C) 1.824 m/s 2
(D) 2.116 m/s2
Statement for Linked Answer Questions 17 and 18: 23. Velocity acquired by block B when it falls through a
A ball can be projected with a maximum velocity of 50 m/s. vertical distance of 1 m, is
On an inclined plane, the maximum range obtained on pro- (A) 1.24 m/s (B) 1.56 m/s
jecting the ball is 190 m. (C) 1.81 m/s (D) 2.35 m/s
17. Inclination of the plane to the horizontal is Common Data for Questions 24 and 25:
(A) 20° (B) 18° Angular displacement of a particle, moving in a circular
(C) 16° (D) 14° path of 150 m radius is given by
q = 18t + 3t2 - 2t3
18. The projection angle from horizontal is
(A) 68° (B) 65° 24. Angular acceleration at 2 seconds from start is
(C) 60° (D) 55° (A) 15 rad/s2 (B) 18 ard/s2
(C) -15 ard/s (D)
2
-18 rad/s2
Statement for Linked Answer Questions 19 and 20: 25. Maximum angular velocity is
A projectile is fixed at an angle of 30° in a horizontal level (A) 16.4 rad/s (B) 19.5 rad/s
ground with a velocity of 50 m/s. (C) 22.3 rad/s (D) 25.4 rad/s

Answer Keys
1. A 2. A 3. B 4. B 5. D 6. B 7. D 8. B 9. D 10. D
11. B 12. D 13. A 14. B 15. C 16. A 17. A 18. D 19. D 20. A
21. D 22. B 23. C 24. D 25. B
 Engineering Mechanics Test 1 | 3.7

Hints and Explanations

I min Integrating,
2. Radius of gyration = v2 0.006S 3
m = 10 S − +C
I = mass moment of inertia about the central axis
2 3
R = radius of sphere or cylinder. When S = 0, v = 0
2 2 \ C = 0
For sphere: I = mR or mK = mR
2 2 2
2
5 5 v 3
\ = 10 S 0.002 S
k = radius of gyration 2
When S = 40 m
2
\ k = R = 0.6324 R v2
5 = 10 × 40 - 0.002 × (40)3
2
For cylinder:
v = 23.32 m/s. Choice (B)
mR2 mR2 1 2. Resultant velocity at B
I= or mk 2 =
2 2 R = 2 n = 2 w r
\ k = R = 0.707R. Choice (A) \ 1 = 2 w × 1
5. Kutzbach equation 1
w =  radian. Choice (D)
F = 3( – 1) – 2j – h 2
F = degree of freedom
 = number of links or member dv 3
13. a = = t − 3t 2 + 5
J = number of lower pair dt
H = number of higher pair dv = (t3 - 3t2 + 5) dt
When 5 joints and 6 members are there Integrating,
4 v = ∫(t3 - 3t2 + 5) dt
5
t4 3
3  = − t + 5t + C
2 6 4
when t = 2, v = 8
1
24
=6 \ 8 = − 23 + 5 × 2 + C , C = 2
4
J=7
\ F = 1(kinematic chain) t4 3
\ v = − t + 5t + 2
For perfect frame, F = 0 4
\ When 5 joints and 7 members then When t = 4
=7 44
J = 9 v= - 43 + 5 × 4 + 2 = 22 m/s. Choice (A)
\ F = 0 (perfect frame) 4
Number of additional member = 1. Choice (D) 14. m = 5 kg, h = 50 m
x = 90 cm = 0.9 m
8. Since plane is frictionless, so KE at ground will be
equal to P. E at top. v1 = 2gh = 4.43 h = 4.43 50 = 31.32 m/s
1 1 v2 = 0
m1gh= m1v12 and m2 gh = m2 v2 2 Let R be the average resistance of penetration
2 2
1
KE1 m1 gh PE1 3 m(v22 - v12) = (mg - R) x
= = =  Choice (B) 2
KE2 m2 gh PE2 5 1
× 5(0 - 31.322) = (5 × 9.81 - R) 0.9 - 2724.84
dv dv dS dv 2
11. a = = . = ν. = 49.05 - R
dt dS dt dS
R = 2773.89 N. Choice (B)
dv
\ v = 10 - 0.006S2 15. Applying impulse momentum equation,
dS F × t = m(v2 - v1)
vdv = (10 - 0.006S2) dS F = mg - R = 49.05 - 2773.89 = - 2724.84 N
3.8 | Engineering Mechanics Test 1

\ -2724.84 × t = 5(0 - 31.32) 21. Let mass of block B be m1 and block A be m2

t = 17.4 sec. Choice (C) T
m2
1 6. q = 6t2 + 3t + 10
Angular velocity
dθ
w= = 12t + 3
dt
when t = 10 T
w = 12 × 10 + 3 = 123 rad/s m1
Angular acceleration
dω m1g - T = m1a
a= = 12 rad/s2. Choice (A) T - mm2g = m2a
dt
17.
\ a = g
( m1 − µm2 )
( m1 + m2 )
m1m2 g (1+ µ )
T =
m1 + m2
5 × 10 × 9.81(1 + 0.25)
T = = 40.88 N. Choice (D)
α 5 + 10
β
g ( m1 − µm2 )
2 22. a =
u m1 + m2
Rmax =
g (1 + sin β ) 9.81(5 − 0.25 × 10 )
a= = 1.635 m/s2. Choice (B)
50 2 5 + 10
190 =
9.81(1 + sin β ) 23. v2 = u2 + 2as = 0 + 2 × 1.635 × 1
sin b = 0.3413 v = 1.81 m/s. Choice (C)
b = 19.95° or 20°. Choice (A) 2 4. q = 18 t + 3t2 - 2t3
1 8. b = 19.95° = 0.3482 radian Angular velocity
dθ
1π  w= = 18 + 6t - 6t2
 − β = α − β dt
2 2
Angular acceleration
1π 
 − 0.3482 = α − 0.3482 dω d 2θ
2 2 α= = 2 = 6 − 12 t
dt dt
a = 0.9595 radian = 54.98 or 55°. Choice (D)
When t = 2
1 9. Time taken is given by a = 6 - 12 × 2 = - 18 rad/s2. Choice (D)
2u sin α 2 × 50 × sin 30 2 5. Angular velocity is maximum when
t= =
g 9.81 dω
=0
  = 5.097 sec or 5.1 sec . Choice (D) dt
2 0. Horizontal range i.e., 6 - 12 t = 0 or t = 0.5 sec
= Horizontal velocity × time of flight = (u cos a) × t Maximum angular velocity
= 50 cos 30 × 5.097 = 220. 7 m. Choice (A) = 18 + 6 × 0.5 - 6 × (0.5)2 = 19.5 rad/s. Choice (B)
 Engineering Mechanics Test 2
Number of Questions: 30 Time: 75 min.

Directions for questions 1 to 30: Select the correct alterna- 7. A truck weighing 150 kN and traveling at 2 m/s impacts
tive from the given choices. with a buffer spring, which compresses 1.25 cm per
1. The velocity-time graph of a body is passing through 10 kN. The maximum compression of the spring is
the velocity axis with intercept of 4. If the slope of the
graph is 3, the distance travelled by the body in 6 sec-
onds would be
(A) 40 m (B) 60 m
(C) 78 m (D) 80 m
2. A circular disc of radius ‘R’ rolls without slipping at (A) 20 cm
a velocity ‘V’. The magnitude of the velocity at point (B) 22.85 cm
P(see figure) is (C) 27.65 cm
P
(D) 30 cm
R
30° 8. A particle moving in space with velocity J = 3t2i + 4tj –
V
7t3k. The acceleration of the particle at t = 1 will be
(A) 3i + 8j – 7k
(B) 6i + 4j + 21k
(C) 6i + 4j – 21k
3 (D) zero
(A) 3V (B) V
2 9. Match the following
V 2
(C) (D) V List – I List – II
2 3
a. Two parallel forces acting 1. Collision
3. A particle starts with velocity 2 m/s and accelerates on a body moving with
uniform velocity
at a rate of 3 m/s2 for 15 seconds and then retards at
6 m/s2 until it stops. The total distance covered is b. A moving particle 2. Forces in equilibrium
(A) 184.08 m (B) 551.58 m c. Two coplanar forces 3. Kinetic energy
(C) 367.5 m (D) None of these equal in magnitude but
opposite in direction
4. A stone is projected horizontally from a cliff at 10 m/s d. Co-efficient of 4. Couple
and lands on the ground below at 20 m from the base restitution
of the cliff. Find the height ‘h’ of the cliff. Use g = 10
m/s2. a b c d
(A) 18 m (B) 20 m (A) 4 3 2 1
(C) 22 m (D) 24 m (B) 1 2 3 4
(C) 2 3 4 1
5. Two cars are going with constant speeds, round con-
(D) None of these
centric circles of radii r1 and r2 and take the same time
to complete their circular paths. Their speeds will cor- 10. For the truss shown in the figure, the force (N) in the
respond to the ratio member BC is
r1
(A) 1 : 1 (B) W W
r2
B C
2
 r1  r2
(C)   (D) 30°
 r2  r1
60°
A 30° D
6. A point ‘P’ moves along a straight line as per the law
x = 4t2 + 12t + 1, the velocity of the point after 3rd and
4th seconds are respectively.
(A) 36 m/s and 48 m/s (A) 0 N(compressive)
(B) 36 m/s and 44 m/s (B) 0.577 W(tensile)
(C) 34 m/s and 44 m/s (C) 0.577 W(compressive)
(D) 34 m/s and 46 m/s (D) 0.866 W(compressive)
3.10 | Engineering Mechanics Test 2

11. of kinetic friction for blocks A and B are 0.1 and 0.35
respectively the frictional forces on A and B are
(A) 46.1 N, 369 N (B) 49.44 N, 398 N
(C) 52.14 N, 404 N (D) 56.48 N, 410 N
16.
B
150 N 3N
A 1 kg
300 N
P

30°
A body of mass 1 kg is resting on a plane surface as
Two blocks A and B weighing 300 N and 150 N respec- shown in figure. A force of 3 N is gradually applied on
tively are placed on a rough inclined plane of angle 30° one side as shown. Coefficient of static friction is 0.35
and connected through a string over a pulley as shown and coefficient of kinetic friction is 0.3. The friction
in the figure. Coefficient of friction of the contact sur- force acting is
faces are 0.25. Force P required on block A for impend- (A) 3.4335 N (B) 2.943 N
ing motion of the blocks is (C) 3 N (D) 0 N
(A) 22.43 N (B) 25.24 N 17.
(C) 28.62 N (D) 30.14 N P
12. A ball of mass 5 kg moving with a velocity of 6 m/s
makes impact with another ball of mass 3 kg moving
in the same direction with a velocity of 4 m/s. If coef-
200 kg
ficient of restitution is 0.5, velocities of the balls after 100 N
impact are
(A) 4.875 m/s, 5.875 m/s
(B) 4.962 m/s, 6.125 m/s
(C) 5.125 m/s, 6.536 m/s A body of mass 200 kg rests on a horizontal surface as
(D) 5.565 m/s, 6.926 m/s shown in the figure. Coefficient of friction between the
body and surface is 0.2. If a horizontal pull of 100 N
Common Data for Questions 13 to 15: can be exerted on the body, the vertical force P required
100 kg to move the body is
(A) 1462 N (B) 1418 N
B
(C) 1360 N (D) 1322 N
50 kg
Common Data for Questions 18 and 19:
A
300 mm

Two blocks A and B of mass 50 kg and 100 kg are placed on

an inclined plane, by connecting them by a string as shown
in them figure. Coefficient of friction between block A and
inclined plane is 0.15 and between block B and inclined
50 N
plane is 0.4
13. Inclination of the plane when the two blocks just start
to move is
1000 mm
(A) 10.15° (B) 17.57° 200
(C) 14.24° (D) 16.28° mm

14. Tension on the string is A band brake is used to control the speed of a flywheel as
(A) 77.9 N (B) 31.96 N shown in figure. The coefficient of friction between the band
(C) 74.3 N (D) 67.4 N and flywheel is 0.3. Radius of the flywheel is 300 mm. A
15. Angle of the inclined plane is increased to 20° and force of 50 N is applied at the end of the lever as shown in
the connecting string is removed. If the coefficients the figure
 Engineering Mechanics Test 2 | 3.11

18. Torque applied on the flywheel when it is rotating 23.

clockwise is 5 kN 5 kN
(A) 262 Nm (B) 280 Nm
(C) 315 Nm (D) 326 Nm E F
19. Torque applied on the flywheel when it is rotating
counter clockwise is
(A) 94 Nm
(B) 82 Nm 45° 45° 45° B
A
(C) 76 Nm 5m C 5m D 5m
(D) 68 Nm
Common Data for Questions 20 and 21:

For the truss loaded as shown in figure, force in the

member CD is
(A) 5 kN (B) 2.5 kN
5
C (C) kN (D) 5 2 kN
150 N 2
B
24.
A 200 N P A B

20° 70°
Block A weighing 200 N is placed on plane floor and block
B weighing 150 N is placed over block A. Block B is con-
strained by a string C and a force P is applied on block A as
shown in figure. For the contact surfaces, coefficient of stat- C
ic friction is 0.3 and coefficient of kinetic friction is 0.25.
20. The smallest force P required to start block A moving is
(A) 143 N 200 N
(B) 150 N
(C) 156 N A weight of 200 N is hung using a cable as shown in
(D) 160 N the figure. Tensions in portions of cable AC and BC are
respectively
21. If a force P of 160 N is applied, the resultant friction
(A) 59.6, 171.7 N
forces exerted on block A is
(B) 62.4, 176.8 N
(A) 110 N (B) 120 N
(C) 62.5, 182.7 N
(C) 125 N (D) 150 N
(D) 68.4, 187.9 N
22.
6 kN 8 kN 25.
A

E D
30° C
P
45°

30 ° 60 ° B 30 ° 60 °
A C

5m 5m
6 kN B

A simply supported structure is loaded as shown in the Two steel truss members AC and BC with cross section
figure. Force in the member AB is area 100 mm2 is subjected to a horizontal force P kN as
(A) 10.26 kN shown in figure. Maximum value of P such that axial
(B) 13.42 kN stress in any of the members does not exceed 50 MPa is
(C) 15.75 kN (A) 10.15 kN (B) 9.22 kN
(D) 17.83 kN (C) 7.92 kN (D) 6.83 kN
3.12 | Engineering Mechanics Test 2

26. (A) 6.624 rad/s (B) 8.368 rad/s

(C) 10.472 rad/s (D) 14.376 rad/s

Common Data for Questions 28 and 29:

A pile of mass 500 kg is driven by a mass 350 kg falling
A
on it vertically through a distance of 1 m. After impact, the
B 90 N falling mass and pile remain in contact and move together.
The pile is moved 150 mm at each blow.
28. Energy lost in each blow is
(A) 1676 Nm (B) 1762 Nm
30° (C) 1915 Nm (D) 2020 Nm
Refering to the figure given above, coefficient of fric- 29. Average resistance against the pile is
tion for all surfaces of contact is 0.3. The minimum (A) 17.765 kN (B) 18.625 kN
weight of block A required to keep block B in position (C) 20.516 kN (D) 22.835 kN
is 30. A body of mass 5 kg falls from a height of 50 m and
(A) 35.6 N (B) 38.4 N penetrates into the ground by 90 cm. Average resistance
(C) 41.6 N (D) 44.5 N to penetration is
2 7. A wheel at rest is accelerated uniformly from rest to (A) 2668 N (B) 2774 N
3000 rpm in 30 seconds. Its angular acceleration is (C) 2814 N (D) 2892 N

Answer Keys
1. C 2. A 3. B 4. B 5. B 6. B 7. C 8. C 9. C 10. C
11. A 12. A 13. B 14. A 15. A 16. C 17. A 18. B 19. D 20. B
21. C 22. B 23. A 24. D 25. D 26. C 27. C 28. D 29. A 30. B

Hints and Explanations

1. the disk is rotating with respect to this center with an
V angular velocity.
V
w=
R
22
4 Velocity of P = w . OP
OP = R2 + R2 − 2 R 2 cos120°
t
   = 3R 2 = 3R
a = 3.
v = u + at = 4 + 3 × 6 V
VP = . 3R = 3V  Choice (A)
  = 22 m/s R
Distance travelled = Area under the curve
1 1 2
= 6 × 4 + ×18 × 6 = 24 + 54 = 78 m Choice (C) 3. S = ut + at
2 2
2. u = 2 m/s
a = 3 m/s2
1
S1 = 2 (15) + × 3 (15) = 367.5 m
2
A P
2
30°
V v = u + at = 2 + 3(15) = 47m/s
v2 – u2 = 2as
0 – 472 = 2(–6)s2
O
472
s2 = = 184.08 m/s
12
the instantaneous center of rotation of the disk is O, i.e, Total distance covered is = S1 + S2 = 367.5 + 184.08
its point of contact with ground every other point on = 551.58 m/s Choice (B)
 Engineering Mechanics Test 2 | 3.13

4. At t = 1
dJ
Vo = 10 m/s Acceleration, = 6i + 4j – 21k. Choice (C)
dt
10. Considering pin A
h
RAB (assume)

20m 60°
A RAD (assume)
20
time of flight = = 2 sec
10 RA = W
Since horizontal component of velocity remains con-
SFy= 0
stant therefore
\ RAB sin 60° + RA = 0
1 2 1 \ RAB = – 1.1547W
h = gt = × 10 × 2 = 20 m
2
Choice (B)
2 2 Considering tress member AB
2πr1 RAB
5. We know t1 = B
v1
2πr2
And t2 = Compressive
v2
A
But t1 = t2
RAB
v1 v2
Therefore =
r1 r2 RAB = + 1.1547W
Considering pin B
Since v = ωr, therefore
W
ω1r1 ω 2 r2
=
r1 r2 B
RBC
w1 = w2
30°
RBD
v1 v2 RAB
=
r1 r2
Sfx = 0
v1 r1 \ RAB sin 30° + RBC = 0
\ =  Choice (B) \ RBc = – 1.1547W sin30°
v2 r2
RBc = – 0.577W
6. X = 4t2 + 12t + 1 Considering tress member BC
B C
dX RBC
Velocity, v = = 8t + 12 RBC
Compressive
dt
(v) t = 3sec = 8(3) + 12 = 36 m/s \ RBc = 0.577W(compressive) Choice (C)
(v) t = 4sec = 8(4) + 12 = 44 m/s Choice (B)
11. Consider free body diagram of block B. Let T be the
tension on the string
1 1
7. mV 2 = KX 2 T
2 2
w 150 × 103 B 0.25 NB
m= = = 15290 kg
g 9.81
10000
15290 (2)2 = x2 30°
1.25 × 10 −2
⇒ x = 27.65 cm. Choice (C) NB
8. Velocity, J = 3t2i + 4tj – 7t3k 150 N

dJ NB = 150 cos 30 = 129.9 N

Acceleration, = 6ti + 4j – 21t2k
dt T = 150 sin 30 + 0.25 NB = 75 + 0.25 × 129.9 = 107.48 N
3.14 | Engineering Mechanics Test 2

Consider free body diagram of block A T + 981 sin q = 392.4 cos q  -----------(2)
T From (1) and (2)
(490. 5 sin q - 73.575 cos q) + 981 sin q = 392.4 cos q
A 1471.5 sin q - 465.975 cos q = 0
465.975
tan q = = 0.3167
1471.5
P 30° q = 17.57°. Choice (B)
NA
0.25 NA
14. T = 490.5 sin 17.57 - 73.575 cos 17.57 = 77.925 N.
 Choice (A)
300 N
15. Consider block A for static condition
NA = 300 cos 30 = 259.8 N
T = 490.5 sin q - 73.575 cos q
P + 300 sin 30 = T + 0.25 NA
As there is no connecting string
P = 107.48 + 0.25 × 259.8 - 150 = 22.43 N.
490.5 sin q - 73.525 cos q = 0
 Choice (A)
tan q = 0.15
1 2. m1 = 5 kg, u1 = 6 m/s q = 8.525°
m2 = 3 kg, u2= 4 m/s, e = 0.5 As q is given as 20° the block moves down
Applying momentum equation Frictional force = mk × N1 = mk × W1 cos q
m1u1 + m2u2 = m1v1 + m2v2 = 0.1 × 50 × 9.81 cos 20 = 46.1 N
i.e., 5 × 6 + 3 × 4 = 5 × v1 + 3 × v2 For the static condition of block B
5v1 + 3v2 = 42  -----------------(1) 981 sin q = 392.4 cos q
From Newton’s law of collision of elastic bodies, tan q = 0.4
v −v q = 21.8°
e= 2 1
u1 − u2 \ The block is stationary at an angle 20° and static
v2 - v1 = e(u1 - u2) = 0.5 (6 - 4) friction is active
v2 - v1 = 1  ---------------------(2) Frictional force = ms × N2 = ms × W2 cos q
From (1) and (2) = 0.4 × 100 × 9.81 cos 20
v1 = 4.875 m/s = 368.735 N. Choice (A)
v2 = 5.875 m/s. Choice (A) 16. Weight of the body W = mg = 1 × 9.81 = 9.81 N
1 3. Let T be the tension in the spring Static friction force = W × ms = 9.81 × 0.35 = 3.4335 N
Considering block A alone Kinetic friction force = W × mk = 9.81 × 0.3 = 2.943 N
W1 The applied force is 3 N. The body will start moving
θ T only when applied force exceeds the static friction
force. After this the kinetic friction force will come
A into action.
So the friction force acting is 3 N. Choice (C)
µ N1 N1
17. Weight of the body = mg = 200 × 9.81 = 1962 N
θ
Frictional force = (mg - P)m = (1962 - P)0.2
N1 = W1 cos q For moving the body
W1 sin q = T + m N1 = T + 0.15 W1 cos q 100 ≥ (1962 - P) × 0.2
T = 50 × 9.81 sin q - 0.15 × 50 × 9.81 cos q 100
1962 - P =
  = 490.5 sin q - 73.575 cos q  --------(1) 0.2
Considering block B P = 1962 - 500 = 1462 N. Choice (A)
W2
18.
θ

B θ

T
µ2N2 N2 T2

N2 = W2 cos q T1
T + W2 sin q = m2 N2 = 0.4 × 100 × 9.81 cos q
 Engineering Mechanics Test 2 | 3.15

For clock wise rotation of the flywheel, band connected 21. Static friction forces to overcome for the movement of
to the lever is slack side and corresponding tension is T2 A = 150 N
T1 For force P above 150 N
= e µθ Kinetic friction is active
T2
Considering block A
3π N1 = 150 N
where q = wrapping angle = 270° = radian
2 µkN1
3π
T1 0.3 ×
= e 2 = 4.11
T2 200 N

T2 × 200 = 50 × 1200 F 160 N

T2 = 300 N A
\ T1 = T2 × 4.11 = 300 × 4.11 = 1233 N
Torque on the fly wheel = (T1 - T2) r µkN2
=(1233 - 300) 0.3 = 280 Nm. Choice (B)
N2
1 9. For anti clockwise rotation tight side of the band is con-
nected to the lever i.e., T1 acts on the lever Resultant friction forces = mkN1 + mkN2
\ T1 × 200 = 50 × 1200 = 0.25 × 150 + 0.25 (150 + 200)
T1 = 300 N = 37.5 + 87.5 = 125 N. Choice (C)
T1 22.
= 4.11 6 kN 8 kN
T2
T1 300
T2 = = = 73 N E D
4.11 4.11
Torque = (T1 - T2)r
= (300 - 73)0.3 = 68 Nm. Choice (D)
2 0. Consider block B, A
30 ° 60 ° B 30 ° 60 °
C
Let T be the tension in the string B
5m 5m
W1 = 150 N

6 kN

T VA + VC= 6 + 8 + 6 = 20 kN
Taking moment about A
B 5×3  5 × 3
VC × 10 = 6 × + 6 × 5 + 8 5 + 
4  4 
µsN1
VC = 12.25 kN
N1 \ VA = 20 - 12.25 = 7.75 kN
N1= W1 = 150 N considering joint A TAE sin 30 = VA
T = ms × N1 = 0.3 × 150 = 45 N 7.75
Consider Block A TAE = = 15.5 kN
0.5
N1
µsN1 TAB = TAE cos 30 = 15.5 × cos 30 = 13.42 kN.
 Choice (B)
200 N 23.
5 kN 5 kN
P E F
A
5
µsN2 5

N2 45° 45° 45°

A 5 C 5 D 5 B
N2 = N1 + 200 = 150 + 200 = 350 N VB
P = msN1 + msN2 = 45 + 0.3 × 350 = 150 N. Choice (B) VA
3.16 | Engineering Mechanics Test 2

By symmetry 26.
WA
VA = VB = 5 kN
Considering joint B, θ
T
TFB sin 45 = VB = 5
TDB = TFB cos 45 = 5 kN as sin 45 = cos 45
considering joint D TCD = TDB = 5 kN. Choice (A) A µ N1

24.
A B θ = 30° N1
20° 70°
Consider the free body diagram of block A
N1 = WA cos 30  -------------(1)
90°
m N1 + WA sin 30 = T
C
N1 WB
110° 160°
θ

200 N
µ N1 B
Applying Lami’s theorem
TAC T 200
= BC = = 200
sin160 sin110 sin 90 µ N2 N2
TAC = 200 × sin 160 = 68.4 N
TBC = 200 × sin 110 = 187.94 N Choice (D) Consider free body diagram of B
N1 + WB cos q = N2
25. i.e., N1 - N2 = -90 × cos 30
= -77.942  ---------------(2)
A T1
m(N1 + N2) = WB sin 30
30° P
0.3(N1 + N2) = 90 × 0.5
45° C
N1+ N2 = 150  ------------(3)
From (2) and (3)
T2 2 N1 = 72.06
N1 = 36 N
Substituting in (1)
B 36 = WA cos 30
\ WA = 41.6 N. Choice (C)
2 7. w0 = 0
Considering the joint P,
2πN 2π × 3000
T1 cos 30 + T2 cos 45 = P w= = = 100 p rad/s
60 60
T1 sin 30 = T2 sin 45
t = 30 s
T1 sin 45
= = 1.414 w = w0 + a t
T2 sin 30 100 p = 0 + a × 30
T1 = 1.414 T2 a = 10.472 rad/s. Choice (C)
1.414 T2 cos 30 + T2 cos 45 = P 28.
T2 = 0.5177 P m1 350 kg
T1 = 0.732 P
Maximum force is in the member AC 1m
TAC = T1 = 0.732 P kN
0.732 × 103 P
Axial stress = = 7.32 P N/mm2 m2
100 500 kg
= 7.32 P MPa
\ 7.32 P ≤ 50 MPa
P ≤ 6.83 kN. Choice (D) R
 Engineering Mechanics Test 2 | 3.17

m1 = 350 kg, m2 = 500 kg 29. Let R be the average resistance against the pile.
S = 1 m, x = 150 mm = 0.15 m Net work done = kinetic energy after impact
Let V1 be the velocity of mass m1 when hitting m2 1
(R - m1g - m2g)x = (m1 + m2)V2
V1 = 2 gS = 2 × 9.81 × 1 = 4.43 m/s 2
V2 = Velocity of pile before impact (R - 350 × 9.81 - 500 × 9.81) 0.15 = 1413.96
V = Common velocity after impact R = 17765 N = 17.765 kN. Choice (A)
m1V1 + m2V2 = (m1 + m2)V 30. m = 5 kg, h = 50 m
350 × 4.43 + 0 = (350 + 500)V
x = 90 cm = 0.9 m
\ V = 1.824 m/s
1 v1 = 2gh = 4.43 h = 4.43 50 = 31.32 m/s
Kinetic energy before impact = m1V1
2
1 v2 = 0
= × 350 × (4.43)2 = 3434.36 Nm Let R be the average resistance of penetration
2
1 1
Kinetic energy after impact = (m1 + m2) V2 m(v22 - v12) = (mg - R) x
2 2
1 1
= (350 + 500) × (1.824)2 = 1413.96 Nm × 5(0 - 31.322) = (5 × 9.81 - R) 0.9
2 2
Energy lost in blow = 3434.36 - 1413.96 ⇒ 49.05 – R = 2724.84
= 2020.4 N/m. Choice (D) R = 2773.89 N Choice (B)