MUMBAI UNIVERSITY STUDENTS ASSOCIATION (MUSA)

VIVA QUESTION FOR ENGIINEERING MECHANICS

F.E SEM-I SCHEME: NEP 2020 FOR WINTER SESSION 2024

Module I: Force Systems

1. Define a force system and classify it.
• Answer: A force system is a set of forces acting on a body. It can be classified as:
o Collinear Force System: All forces lie along the same line.
o Concurrent Force System: Forces meet at a common point.
o Parallel Force System: Forces act along parallel lines.
o Non-Concurrent Non-Parallel Force System: Forces do not meet at a single point and do not act
along parallel lines.
2. What is the principle of transmissibility of forces?
• Answer: The principle of transmissibility states that a force can be moved along its line of action without
changing its effect on a rigid body, provided that the body remains unchanged.
3. Explain the composition and resolution of forces.
• Answer:
o Composition of forces is the process of combining multiple forces into a single resultant force.
o Resolution of forces involves breaking a force into components, typically along perpendicular
directions such as horizontal and vertical components.
4. What is the resultant of coplanar concurrent forces?
• Answer: The resultant of coplanar concurrent forces can be calculated using the vector sum of all forces. If
the forces are not aligned, the resultant is determined using the method of components or by graphical
methods like the polygon of forces.
5. Differentiate between concurrent forces and parallel forces.
• Answer:

Aspect Concurrent Forces Parallel Forces

Definition Forces meet at a single point. Forces act along parallel lines.

Interaction Intersect at a common point. Do not intersect; remain equidistant.

Resultant The resultant force passes through the Resultant force lies parallel to the forces.
intersection point.
Application Common in tension and compression problems. Common in beams and distributed loads.

Analysis Requires resolving forces into components. Requires summing forces and calculating
moments.
6. What is a moment of force about a point?
• Answer: The moment of force about a point is the measure of the rotational effect of a force about that
point. It is given by M = F ⋅ d, where F is the force and d is the perpendicular distance from the point to the
line of action of the force.

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 7. Explain the concept of couples in mechanics.
• Answer: A couple is a pair of equal and opposite forces whose lines of action do not coincide. A couple
creates a pure rotational effect without any translational effect.
8. State and explain Varignon’s Theorem.
• Answer: Varignon’s Theorem states that the moment of a force about any point is equal to the sum of the
moments of its components about the same point. This allows the breaking of a force into simpler
components to make moment calculation easier.
9. What is the resultant of a general system of forces?
• Answer: The resultant of a general system of forces is obtained by vector addition of all the individual
forces in the system. This resultant may also involve calculating the moments to find the position of the
resultant force.
10. How do you calculate the resultant of non-coplanar forces in space?
• Answer: The resultant of non-coplanar forces in space can be found by resolving each force into its
components along the coordinate axes and then summing the components in each direction. The resultant
force vector is then obtained by combining the sums of the components.

Module II: Centroid

1. What is the definition of centroid?
• Answer: The centroid of a body is the point at which the entire area or mass of the body can be considered
to be concentrated. It is the geometric center of the body.
2. How do you calculate the centroid of a composite plane lamina?
• Answer: To calculate the centroid of a composite lamina:
1. Divide the lamina into simpler geometric shapes.
2. Calculate the centroid of each shape.
3. Use the formula for composite areas:
∑(𝑨𝒊 ∙ 𝒙𝒊 ) ∑(𝑨𝒊 ∙ 𝒚𝒊 )
𝒙𝒄𝒆𝒏𝒕𝒓𝒐𝒊𝒅 = ∑ 𝑨𝒊
, 𝒚𝒄𝒆𝒏𝒕𝒓𝒐𝒊𝒅 = ∑ 𝑨𝒊

Where 𝐴𝑖 is the area of each part, and 𝑥𝑖 , 𝑦𝑖 are the coordinates of the centroids of the individual
shapes.
3. Where is the centroid of a triangle located?
• Answer: The centroid of a triangle is located at the intersection of its medians, which are the lines
connecting the vertices to the midpoints of the opposite sides. It divides each median into a 2:1 ratio.
4. How is the centroid of a semicircular lamina calculated?
• Answer: The centroid of a semicircular lamina is located along the central axis (the line of symmetry) at a
distance of 4r/3𝜋 from the flat edge, where r is the radius of the semicircle.
5. Explain how symmetry affects the centroid of an object.
• Answer: If an object is symmetric, its centroid lies along the axis of symmetry. For example, the centroid of
a circular lamina lies at its center, and for a rectangular lamina, the centroid lies at the intersection of its
diagonals.
6. How do you find the centroid of irregular shapes?
• Answer: The centroid of an irregular shape can be found by dividing the shape into smaller, regular
sections, calculating the centroid of each section, and then applying the composite area formula.
7. What is the importance of the centroid in structural analysis?

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 • Answer: The centroid is important because it helps in determining the distribution of forces and the
location of reactions in structures. It also aids in analyzing moments of inertia and bending stresses.
8. What is the centroid of a rectangle?
• Answer: The centroid of a rectangle is located at the intersection of its diagonals, which divides it into four
equal parts. The coordinates of the centroid are at half the length and half the width of the rectangle.
9. What is the difference between centroid and center of gravity?
• Answer: The centroid is the geometric center of an object, while the center of gravity is the point where
the entire weight of the object can be assumed to act. The center of gravity considers the distribution of
mass, whereas the centroid depends only on geometry.

Module III: Equilibrium of Force Systems and Friction

1. What are the conditions of equilibrium for concurrent forces?
• Answer: The conditions for equilibrium of concurrent forces are:
o The algebraic sum of forces in the x-direction must be zero: ∑ 𝐹𝑥 = 0
o The algebraic sum of forces in the y-direction must be zero: ∑ 𝐹𝑦 = 0

o The algebraic sum of moments about any point must be zero: ∑ 𝑀 = 0

2. Explain the significance of free body diagrams in equilibrium analysis.
• Answer: A free body diagram (FBD) is a graphical representation of all the forces and moments acting on a
body, showing the body isolated from its surroundings. It is crucial for analyzing equilibrium as it helps in
visualizing forces and determining the conditions for equilibrium.
3. What is the role of friction in static equilibrium?
• Answer: Friction helps in resisting motion between two surfaces and ensures that static equilibrium is
maintained by balancing the forces acting parallel to the surface.
4. Define static and kinetic friction and explain their differences.
• Answer:
o Static friction is the frictional force that resists the initiation of motion between two surfaces.
o Kinetic friction is the frictional force that resists the relative motion once the surfaces are in motion.

Aspect Static Friction Kinetic Friction

Definition Resists the start of motion. Resists motion when already in motion.

Magnitude Greater than kinetic friction. Less than static friction.

Formula Fs≤μsNF_s \leq \mu_s NFs≤μsN Fk=μkNF_k = \mu_k NFk=μkN

Dependency Depends on surface roughness and normal force. Same dependencies as static friction.

Application Applicable before motion begins. Applicable during motion.

5. Explain the concept of the angle of friction.

• Answer: The angle of friction is the angle between the normal force and the resultant force, which is the
vector sum of the normal and frictional forces. It is given by tan(𝜃𝑓 ) = 𝜇, where 𝜇 is the coefficient of
friction.
6. What is the angle of repose?
• Answer: The angle of repose is the maximum angle at which a body can be placed on a surface without
sliding. It is equal to the angle of friction for that surface.
7. What is the role of friction in inclined plane problems?

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 • Answer: In inclined plane problems, friction acts to resist the relative motion between the body and the
plane. It helps in determining whether the body will move or remain stationary. The frictional force is given
by 𝐹 = 𝜇𝑁, Where 𝑁 is the normal reaction force, and 𝜇 is the coefficient of friction.
8. Define the cone of friction.
• Answer: The cone of friction represents the region within which the frictional force vector must lie in order
for the body to remain stationary. This cone is formed by drawing lines at angles of μ (coefficient of
friction) from the normal line in both directions.
9. What are the different types of beams and their supports?
• Answer:
o Simply Supported Beam: A beam supported at both ends, with no moment resistance at the
supports.
o Cantilever Beam: A beam fixed at one end and free at the other.
o Overhanging Beam: A beam that extends beyond its supports.
o Fixed Beam: A beam with both ends fixed, offering resistance to both translation and rotation.
10. What is the difference between static and dynamic equilibrium?
• Answer:
o Static equilibrium refers to a state where an object is at rest, and the sum of forces and moments
acting on it is zero.
o Dynamic equilibrium refers to a state where an object moves with constant velocity (i.e., no
acceleration), and the sum of forces and moments is also zero.
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Module IV: Kinematics of Particle and Rigid Bodies
1. Explain the motion of a particle with variable acceleration.
• Answer: Motion of a particle with variable acceleration involves a change in acceleration with respect to
time. The position, velocity, and acceleration can be expressed as functions of time, and integration or
differentiation is required to solve for the parameters.
2. What are the tangential and normal components of acceleration?
• Answer:
o Tangential acceleration (𝑎𝑡 ) is the component of acceleration along the direction of the particle's
velocity.
o Normal acceleration (𝑎𝑛 ) is the component of acceleration perpendicular to the velocity, responsible
for changing the direction of motion.
3. What is the instantaneous center of rotation (ICR) in general plane motion?
• Answer: The Instantaneous Center of Rotation (ICR) is the point in the plane motion of a rigid body that has
zero velocity at a given instant. The ICR is used to simplify the analysis of general plane motion by allowing
for the use of rotational motion equations.
4. Explain general plane motion and its types.
• Answer: General plane motion involves both translation and rotation of a rigid body in a plane. It includes:
o Pure Translation: Every point on the body moves in the same direction and with the same speed.
o Pure Rotation: The body rotates around a fixed point, and all points move in circular paths.
5. How do you solve problems using the Instantaneous Center of Rotation (ICR) method?
• Answer: To solve problems using the ICR method, follow these steps:

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 1. Identify the instantaneous center of rotation.
2. Use the geometry of the problem to find the location of the ICR.
3. Use the ICR to find the velocity and acceleration of different points on the rigid body.
7. What is the relationship between linear and angular motion in rigid body dynamics?
• Answer: The relationship between linear and angular motion is given by:
o Linear velocity v = rω, where r is the radius and ω is the angular velocity.
o Linear acceleration a= rα, where α is the angular acceleration.
8. Explain the concept of relative velocity in rigid body motion.
• Answer: Relative velocity in rigid body motion is the velocity of one point on the body relative to another
point. The relative velocity can be calculated using the formula.
____________________________________________________________________________________________

Module V: Kinetics of Particle

1. What is D'Alembert’s Principle?
• Answer: D'Alembert’s Principle states that the sum of the forces and inertial forces (due to acceleration)
acting on a body in motion is zero. It is used to convert a dynamic problem into a static problem,
simplifying the solution process.
2. What is inertia force?
• Answer: Inertia force is a fictitious force used in D'Alembert’s Principle. It represents the force required to
account for the acceleration of a body, calculated as Finertia = ma, where m is the mass and a is the
acceleration.
3. What is the principle of linear impulse and momentum?
• Answer: The principle of linear impulse and momentum states that the change in momentum of a particle
is equal to the impulse applied to it.
4. What is the law of conservation of momentum?
• Answer: The law of conservation of momentum states that the total momentum of an isolated system
remains constant if no external forces act on it. This is used in collision problems and impact analysis.
5. Explain the coefficient of restitution.
• Answer: The coefficient of restitution is a measure of the elasticity of a collision, defined as the ratio of
relative velocity after collision to relative velocity before collision
6. What is the difference between direct and oblique central impacts?
• Answer:

Aspect Direct Central Impact Oblique Central Impact

Type of Collision The forces act along the same line. The forces are not along the same line.

Velocity Velocity changes only along the line Velocity changes along both normal and
Components of impact. tangential directions.

Energy Loss There is a larger loss of kinetic energy. Energy loss occurs due to angular momentum
transfer.

Simplification Simplified as one-dimensional. Requires two-dimensional analysis.

Examples Billiard balls colliding head-on. Car crash at an angle.

7. What is the difference between elastic and inelastic collisions?

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 • Answer: In an elastic collision, both momentum and kinetic energy are conserved. In an inelastic collision,
momentum is conserved, but kinetic energy is not.
8. How do you analyze collisions in two dimensions?
• Answer: In two-dimensional collisions, both the conservation of momentum and the coefficient of
restitution are applied in both the x and y directions. Equations are solved simultaneously to determine the
velocities of the bodies post-collision.
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Module VI: Introduction to Robot Kinematics

1. What are the fundamental principles of robot mechanics?
• Answer: Robot mechanics involve the study of forces, motions, and energy within the robotic system. Key
concepts include kinematics, dynamics, and control systems that allow robots to perform tasks.
2. What is the degree of freedom (DOF) in a robotic arm?
• Answer: The degree of freedom (DOF) refers to the number of independent movements a robot can make.
Each joint or axis of movement in a robot adds to its DOF.
3. What are Denavit-Hartenberg (D-H) parameters?
• Answer: The Denavit-Hartenberg parameters are a set of four parameters used to describe the
transformations between coordinate frames of adjacent links in a robotic arm. These parameters are:
o Link length (l)
o Link twist (α)
o Link offset (d)
o Joint angle (θ)
4. How do you perform forward kinematics in a robotic system?
• Answer: Forward kinematics involves calculating the position and orientation of the robot's end effector
based on the joint parameters. It involves the use of transformation matrices derived from the D-H
parameters.
5. What is homogeneous transformation in robotics?
• Answer: Homogeneous transformation is a matrix used to describe the position and orientation of a rigid
body relative to a coordinate frame. It combines rotation and translation into a single matrix.
6. Explain the concept of serial robots.
• Answer: A serial robot consists of a series of linked segments or arms connected by joints. Each joint
provides a degree of freedom, and the end effector is moved by the combination of all the joints' motions.
7. What is the significance of homogeneous transformation in robot kinematics?
• Answer: Homogeneous transformation allows for the efficient calculation of the position and orientation of
robot links, providing a framework to solve forward and inverse kinematics problems.
8. How do you analyze a 2-DOF serial robot?
• Answer: A 2-DOF serial robot can be analyzed by applying the D-H parameter table to find the
transformation matrix. Then, you can use forward kinematics to find the position and orientation of the
end effector.
9. What are the challenges in solving inverse kinematics problems in robotics?
• Answer: The main challenges include:
o Multiple solutions (or no solution) for some configurations.
o Non-linear equations that require numerical methods.

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 o Singularities, where the robot loses a degree of freedom.
10. Explain the role of kinematics in robot motion planning.
• Answer: Kinematics is used in robot motion planning to determine the path the robot’s end effector
follows, ensuring that it can reach a desired position while avoiding obstacles and ensuring smooth
movements.

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