Engineering Mechanics I

Statics
 Chapter I
Vectors and Scalars

2
 Definition of Mechanics
Mechanics: is a physical science which deals
with the effect of forces on objects.

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 Applications of Mechanics

The principles of mechanics

can be applied in the field of
✓Stability and strength of
structures and machines
✓Rocket and space craft
design
✓Fluid flow
✓Molecular, atomic, and sub-
atomic behavior

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 Lecture Overview
1.) - Scalars and Vectors – definition

- Representation of Vectors

- Classification of Vectors

2.) - Fundamental Principles

- Newton’s Laws

- Law of Gravitation, Units

3.) - Vector operations, addition, multiplication

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 Classification of Mechanics

Mechanics is divided into two basic categories;

✓Statics
Deals with the equilibrium of bodies under the action
of forces
✓Dynamics
Deals with the motion of bodies caused by
unbalanced force acting on them.

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Basic concepts used in mechanics:

space, time, mass, force, particle, rigid body

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Basic concepts used in mechanics:

space, time, mass, force, particle, rigid body

coordinates - position of a point P (x, y, z)

measured from a certain point of reference
y

P (x,y,z)

z
x

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Basic concepts used in mechanics:

space, time, mass, force, particle, rigid body

time of an event taking place,

determination of velocity and acceleration

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Basic concepts used in mechanics:

space, time, mass, force, particle, rigid body

mass of a body [kg, g]

action of weight, behaviour under the action

of an external force

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Basic concepts used in mechanics:

space, time, mass, force, particle, rigid body

magnitude, direction, point of application

e.g. action on a rigid body, action of one body
onto another y


x

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Basic concepts used in mechanics:

space, time, mass, force, particle, rigid body

infinitesimal small piece of a body, single

point in space
y

z
x

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Basic concepts used in mechanics:

space, time, mass, force, particle, rigid body

body consisting of a non-deformable material

(no displacement under the action of forces)

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Scalars and Vectors, definition and
properties

Scalars: quantities described by their

magnitude alone

e.g. time, volume, area, density, distance,

energy mass
10
0

20

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Scalars and Vectors, definition and
properties

Vectors: quantaties described by their

magnitude and direction

e.g. displacement, velocity, force, acceleration,

momentum
10

20
0

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Graphical representation of a Vector

- line segment of certain length (magnitude)

and orientation ()

- Arrow head indicating direction

y
(scale to be predetermined)

 (reference axis to be predetermined)

x

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Symbolic representation of a Vector

- magnitude, length of vector: ║V║, |V| or V

e.g. in scalar equations

- vector quantities respecting the orientation: V, V

e.g. mathematical vector operations
y

v

x

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Symbolic representation of a Vector

- magnitude, length of vector: ║V║, |V| or V

e.g. in scalar equations
most common
- vector quantities respecting the orientation: V, V
e.g. mathematical vector operations
y

v

x

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 Classification of Vectors

1. Free Vector

2. Sliding Vector

3. Fixed Vector

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 Vectors,
classifications

1. Free Vector: action in space not associated

with a unique line.

e.g. uniform displacement of a body

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 Vectors,
classifications

1. Free Vector: action in space not associated

with a unique line

e.g. uniform displacement of a body

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 Vectors,
classifications

1. Free Vector: action in space not associated

with a unique line

e.g. uniform displacement of a body

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 Vectors,
classifications

2. Sliding Vector: action in space described by a

unique line.

e.g. action of force on rigid body

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 Vectors,
classifications

2. Sliding Vector: action in space described by a

unique line

e.g. action of force on rigid body

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 Vectors,
classifications

2. Sliding Vector: action in space described by a

unique line

e.g. action of force on rigid body

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 Vectors,
classifications

3. Fixed Vector: action in space described by a

unique point

e.g. action of force on non rigid body

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 Vectors,
classifications

3. Fixed Vector: action in space described by a

unique point

e.g. action of force on non rigid body

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 Lecture Overview
1.) - Scalars and Vectors – definition

- Representation of Vectors

- Classification of Vectors

2.) - Fundamental Principles

- Newton’s Laws

- Law of Gravitation, Units

3.) - Vector operations, addition, multiplication

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Fundamental Principles –
Newton’s Laws
Sir Isaac Newton (1642-1727)

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Fundamental Principles –
Newton’s Laws
Sir Isaac Newton (1642-1727)

1st Law: A particle remains at rest or continues

to move with constant velocity if the
resultant force acting on it is zero.

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Fundamental Principles –
Newton’s Laws
Sir Isaac Newton (1642-1727)

2nd Law: The acceleration of a particle is

proportional to the resultant force
acting on it (magnitude and direction).

F = ma m = mass of particle
a = acceleration

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Fundamental Principles –
Newton’s Laws
Sir Isaac Newton (1642-1727)

3rd Law: The forces of action and reaction

between bodies in contact are equal
in magnitude, opposite in direction
and collinear (same line of action).

Action
Reaction

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Fundamental Principles –
Newton’s Laws

Law of Gravitation

Two particles of mass m1 and m2 are mutually

attracted with equal and opposite forces F and F’
of magnitude F.
m1
m1m2
F=G 2
r
r
G = constant of
m2
graviation

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Fundamental Principles –
Newton’s Laws

Law of Gravitation

Weight = Gravitational Force acting on a body

(attraction between earth and body)

W = mg g = acceleration of gravity = 9.81 m/s2

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Fundamental Principles –
Newton’s Laws

Law of Gravitation

Weight = Gravitational Force acting on a body

(attraction between earth and body)

WN= m[kg] g[m s2 ] g = 9.81 m/s2

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Units

International System of Units (SI units)

Mass m [to, kg]

Force F [kN, N]
Time t [s]
Length L [m, cm, mm]

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Units

International System of Units (SI units)

example
Express a body mass of 80 kg in the unit of
Newton.

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Units

International System of Units (SI units)

example
Express a body mass of 80 kg in the unit of
Newton.
W = 80 kg · 9.81 m/s2 = 784.8 N

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Units

International System of Units (SI units)

example
Express a body mass of 80 kg in the unit of
Newton.
W = 80 kg · 9.81 m/s2 = 784.8 N = 0.785 kN

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Units

International System of Units (SI units)

example
Express a body mass of 80 kg in the unit of
Newton.
W = 80 kg · 9.81 m/s2 = 784.8 N = 0.785 kN
approximation: e.g. 100 kg = 1.0 kN
commonly used in the field of civil engineering

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 Lecture Overview
1.) - Scalars and Vectors – definition

- Representation of Vectors

- Classification of Vectors

2.) - Fundamental Principles

- Newton’s Laws

- Law of Gravitation, Units

3.) - Vector operations, addition, multiplication

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Vector Operations

- Vector Addition

- Parallelogram law, triangle rule

- Composition and decomposition of forces

- Vector Multiplication

- Dot and Cross products

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Decomposition of Vectors

Components, y
perpendicular

V

x

horizontal component of V:

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Decomposition of Vectors

Components y

V

x

horizontal component of V: Vx = Vcosθ

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Decomposition of Vectors

Components y

V

x

horizontal component of V: Vx = Vcosθ

vertical component of V:

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Decomposition of Vectors

Components y

V

x

horizontal component of V: Vx = Vcosθ

vertical component of V:
Vy = V sinθ

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Representation of Vectors

Algebraically a vector is represented by its

components along the three dimensions.

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Representation of Vectors

expression by unit vectors: i = j = k =1

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Representation of Vectors

expression by unit vectors: i = j = k =1

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Properties of vectors
Equality of vectors: Two free vectors are said to be
equal if and only if they have the same magnitude
and direction.

The Negative of a vector: is a vector which has equal

magnitude to a given vector but opposite in direction.

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Null vector: is a vector of zero magnitude. A null
vector has an arbitrary direction.
Unit vector: is any vector whose magnitude is unity.
A unit vector along the direction of a certain vector,
say vector A (denoted by uA) can then be found
by dividing vector A by its magnitude.

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Vector Addition – Graphical method

The parallelogram law – resultant force

Two forces maybe replaced by a single force

(resultant) obtained by drawing the diagonal of the
parallelogram having sides equal to the given forces.

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Vector Addition – Graphical method

The parallelogram law – resultant force

Two forces maybe replaced by a single force

(resultant) obtained by drawing the diagonal of the
parallelogram having sides equal to the given forces.

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Vector Addition – Graphical method

The parallelogram law – resultant force

Two forces maybe replaced by a single force

(resultant) obtained by drawing the diagonal of the
parallelogram having sides equal to the given forces.

scale
A 20

A
10
particle

B B 0

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Vector Addition – Graphical method

The parallelogram law – resultant force

Two forces maybe replaced by a single force

(resultant) obtained by drawing the diagonal of the
parallelogram having sides equal to the given forces.

A
A

B B

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Vector Addition – Graphical method

The parallelogram law – resultant force

Two forces maybe replaced by a single force

(resultant) obtained by drawing the diagonal of the
parallelogram having sides equal to the given forces.

A
A

B B

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Vector Addition – Graphical method

The parallelogram law – resultant force

Two forces maybe replaced by a single force

(resultant) obtained by drawing the diagonal of the
parallelogram having sides equal to the given forces.
scale
A
A R

B B

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Vector Addition – Graphical method

The parallelogram law – resultant force

Two forces maybe replaced by a single force

(resultant) obtained by drawing the diagonal of the
parallelogram having sides equal to the given forces.
   
A+ B = B+A
A R
Vector addition is
commutative!
B

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Vector Addition – Graphical method

The parallelogram law – resultant force

Two forces maybe replaced by a single force

(resultant) obtained by drawing the diagonal of the
parallelogram having sides equal to the given forces.
   
A− B  B−A
A
Vector subtraction is
not commutative!
B

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Vector Addition – Graphical method

The triangle rule (from parallelogram law)

for two forces

R = A+ B = B+A

B
R
A
R A
B

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Vector Addition – Graphical method

The polygon rule

for more than two forces
 
R = A + B + C = B + A + C = ...

B
C A C
A R
R
B

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Vector Addition – Analytic method

Trigonometric rules

applying sine and cosine rules

c
b = sin·c

a = cos·c

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Vector Addition – Analytic method

Trigonometric rules

c
b
 
a
c2 = a 2 + b 2 − 2ab cosθ
sinβ sinθ
=
b c

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Vector Addition – Analytic method

Trigonometric rules

B R
B
 
A
= A + B − 2 A B cosθ
2 2 2
R magnitude

sinβ sinθ
=
Inclination of R from A
B R

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 Example
For the following vectors V1 and V2 Shown in the figure

a. Determine the magnitude R of the

vector sum,
b. Determine the angle between R and
the positive x-axis
c. Write R as a vector in terms of the unit
vectors i and j and then write a unit
vector n along the vector R
d. Determine the vector difference D

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Multiplication

Multiplication of vectors by scalars

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Multiplication

Multiplication of vectors by vectors

- Dot product (scalar product)

- Cross product (vector product)

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Dot Product (scalar product)

Vectors A and B are  inclined from each other

A.B = A  B cosθ Result = scalar

A.B = a x b x + a y b y +a z b z

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 Cross Product (vector product)

Vectors A and B are  inclined from each other.

Result : Vector of determined magnitude and direction

perpendicular to the plane formed by A and B

A B = A  B  sinθ

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 Cross Product (vector product)

Vectors A and B are  inclined from each other.

Result : Vector of determined magnitude and direction

perpendicular to the plane formed by A and B

A B = A  B  sinθ

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 Cross Product (vector product)

Vectors A and B are  inclined from each other.

Result : Vector of determined magnitude and direction

perpendicular to the plane formed by A and B

A B = A  B  sinθ

A  B = (a b - a b )i + (a b - a b )j + (a b - a b )k
y z z y z x x z x y y x

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 Cross Product (vector product)

Determination of resulting vector by three by three matrix

i j k
ax ay az
bx by bz

A B = (a b - a b )i + (a b - a b )j + (a b - a b )k
y z z y z x x z x y y x

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 Cross Product (vector product)

Determination of resulting vector by three by three matrix

i j k
ax ay az
bx by bz

A B = (a b - a b )i + (a b - a b )j + (a b - a b )k
y z z y z x x z x y y x

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 Cross Product (vector product)

Determination of resulting vector by three by three matrix

i j k
ax ay az
bx by bz

A B = (a b - a b )i + (a b - a b )j + (a b - a b )k
y z z y z x x z x y y x

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 Cross Product (vector product)

Determination of resulting vector by three by three matrix

i j k
ax ay az
bx by bz

A B = (a b - a b )i + (a b - a b )j + (a b - a b )k
y z z y z x x z x y y x

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Cross Product (vector product)

Moment of a vector V about any point 0

r is a position vector from point 0 to any point on the line of

action of vector V.
 0
M 0 = rV
r
i j k
 V
M 0 = rx ry rz
Vx Vy Vz

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Thank you …

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