PDF A Textbook of Engineering Mechanics in Si Units For B E B Tech 1St Year Sanjay Bansal Ebook Full Chapter
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A TEXTBOOK OF
ENGINEERING MECHANICS
A TEXTBOOK OF
ENGINEERING MECHANICS
(In SI Units)
For
By
Dr. R.K. BANSAL
B.Sc. Engg. (Mech.), M. Tech., Hons. (I.I.T., Delhi),
Ph.D., M.I.E. (India)
Formerly
Professor of Mechanical Engineering
Department of Mechanical Engineering
Delhi College of Engineering
Delhi
AND
SANJAY BANSAL
B.E. (Computer)
Limits of Liability/Disclaimer of Warranty: The publisher and the author make no representation or warranties with respect to the
accuracy or completeness of the contents of this work and specifically disclaim all warranties. The advice, strategies, and activities
contained herein may not be suitable for every situation. In performing activities adult supervision must be sought. Likewise, common
sense and care are essential to the conduct of any and all activities, whether described in this book or otherwise. Neither the publisher
nor the author shall be liable or assumes any responsibility for any injuries or damages arising herefrom. The fact that an organization
or Website if referred to in this work as a citation and/or a potential source of further information does not mean that the author or
the publisher endorses the information the organization or Website may provide or recommendations it may make. Further, readers
must be aware that the Internet Websites listed in this work may have changed or disappeared between when this work was written
and when it is read.
All trademarks, logos or any other mark such as Vibgyor, USP, Amanda, Golden Bells, Firewall Media, Mercury, Trinity, Laxmi appear-
ing in this work are trademarks and intellectual property owned by or licensed to Laxmi Publications, its subsidiaries or affiliates.
Notwithstanding this disclaimer, all other names and marks mentioned in this work are the trade names, trademarks or service
marks of their respective owners.
6. Friction 128–173
6.1. Introduction ... 128
6.2. Co-efficient of Friction (µ) ... 128
6.3. Angle of Friction (φ) ... 129
6.4. Cone of Friction ... 130
6.5. Types of Friction ... 130
6.6. Coulomb’s Laws of Friction ... 130
6.7. Angle of Repose ... 135
6.8. Equilibrium of a Body Lying on a Rough Inclined Plane ... 136
6.9. Applications of Friction ... 148
6.10. Wedge Friction ... 149
6.11. Belt Friction ... 153
6.12. Brakes and Screws Friction ... 160
6.13. Friction in a Square Threaded Screw ... 164
Highlights ... 171
Exercise 6 ... 172
—AUTHORS
( xi )
SYLLABUS
B. Tech. Ist Year
( xii )
( xiii )
Kinetics of Rigid Body
• Introduction, Force, Mass and Acceleration, Newton’s law of motion, D’ Alembert’s Prin-
ciples and Dynamic Equilibrium, Laws of motion applied to planar translation, rotation
and plane motion.
• Work and Energy, Kinetic energy, Principle of work and energy, Conservative forces,
Law of conservation of energy.
• Linear Impulse and Momentum, Conservation of linear momentum.
Chapters
1. Basic Concepts of Engineering Mechanics
2. Force System and Classification
3. Moment of a Force and Varignon’s Theorem
4. Equilibrium of Coplanar Force System and Free Body Diagram
5. Determination of Support Reactions
6. Friction
1
Basic Concepts of Engineering Mechanics
1.1. DEFINITIONS
Engineering mechanics is that branch of science which deals with the behaviour of a
body when the body is at rest or in motion. The engineering mechanics may be divided into
Statics and Dynamics. The branch of science, which deals with the study of a body when the
body is at rest, is known as Statics while the branch of science which deals with the study of a
body when the body is in motion, is known as Dynamics. Dynamics is further divided into
kinematics and kinetics. The study of a body in motion, when the forces which cause the
motion are not considered, is called kinematics and if the forces are also considered for the
body in motion, that branch of science is called kinetics. The classification of Engineering
Mechanics are shown in Fig. 1.1 below.
ENGINEERING MECHANICS
1. Statics 2. Dynamics
(Body is at rest) (Body is in motion)
1.3.1. Free Vector. A vector which can be moved parallel to its position anywhere in
space provided its magnitude, direction and sense remain the same, is known as free vector.
Fig. 1.3 (a) shows free vector.
1.3.2. Fixed Vector. A vector whose initial point is fixed, is known as fixed vector.
Fig. 1.3 (b) shows fixed vector.
A B A
A
Line of
action
The law of parallelogram of forces is used to determine the resultant* of two forces
acting at a point in a plane. It states, “If two forces, acting at a point be represented in magnitude
and direction by the two adjacent sides of a parallelogram, then their resultant is represented
in magnitude and direction by the diagonal of the parallelogram passing through that point.”
B B C
Q Q R
α
α θ α
O P A O P A D
Fig. 1.4 Fig. 1.4 (a)
Let two forces P and Q act at a point O as shown in Fig. 1.4. The force P is represented
in magnitude and direction by OA whereas the force Q is presented in magnitude and direction
*The resultant of a system of forces may be defined as a single force which has the same effect as
system of forces acting on the body.
BASIC CONCEPTS OF ENGINEERING MECHANICS 5
by OB. Let the angle between the two forces be ‘α’. The resultant of these two forces will be
obtained in magnitude and direction by the diagonal (passing through O) of the parallelogram
of which OA and OB are two adjacent sides. Hence draw the parallelogram with OA and OB as
adjacent sides as shown in Fig. 1.4 (a). The resultant R is represented by OC in magnitude
and direction.
1.4.1. Magnitude of Resultant (R)
From C draw CD perpendicular to OA produced.
Let α = Angle between two forces P and Q = ∠AOB
Now ∠DAC = ∠ AOB (Corresponding angles)
=α
In parallelogram OACB, AC is parallel and equal to OB.
∴ AC = Q.
In triangle ACD,
AD = AC cos α = Q cos α
and CD = AC sin α = Q sin α.
In triangle OCD,
OC2 = OD2 + DC2.
But OC = R, OD = OA + AD = P + Q cos α
and DC = Q sin α.
∴ R2 = (P + Q cos α)2 + (Q sin α)2 = P2 + Q2 cos2 α + 2PQ cos α + Q2 sin2 α
= P2 + Q2 (cos2 α + sin2 α) + 2PQ cos α
= P2 + Q2 + 2PQ cos α (Q cos2 α + sin2 α = 1)
∴ R= P 2 + Q 2 + 2 PQ cos α ...(1.1)
Equation (1.1) gives the magnitude of resultant force R.
1.4.2. Direction of Resultant
Let θ = Angle made by resultant with OA.
Then from triangle OCD,
CD Q sin α
tan θ = =
OD P + Q cos α
FG Q sin α IJ
∴ θ = tan–1
H P + Q cos α K ...(1.2)
2nd Case. The two forces P and Q are equal and are acting at an angle α between them.
Then the magnitude and direction of resultant is given as
R= P 2 + Q 2 + 2 PQ cos α = P 2 + P 2 + 2 P × P × cos α (Q P = Q)
= 2 P 2 + 2 P 2 cos α = 2 P 2 (1 + cos α)
2 P 2 × 2 cos 2
α FGQ 1 + cos α = 2 cos 2
α IJ
=
2 H 2 K
α α
= 4 P 2 cos 2 = 2 P cos ...(1.3)
2 2
and θ = tan–1
FG
Q sin α IJ
= tan −1
P sin α
(Q P = Q)
H
P + Q cos α K P + P cos α
P sin α sin α
= tan–1 = tan −1
P (1 + cos α) 1 + cos α
α α
2 sin cos
2 2 FGQ α α IJ
= tan–1
2 cos 2 α
H sin α = 2 sin
2
cos
2 K
2
α
= tan–1
sin
FG
2 = tan −1 tan α = α IJ ...(1.4)
cos
α 2H K2
2
It is not necessary that one of two forces, should
be along x-axis. The forces P and Q may be in any Q
direction as shown in Fig. 1.5. If the angle between the
two forces is ‘α’, then their resultant will be given by
R
equation (1.1). The direction of the resultant would be
obtained from equation (1.2). But angle θ will be the
angle made by resultant with the direction of P.
1.4.3. Law of Triangle of Forces. It states that,
“if three forces acting at a point be represented in a q P
magnitude and direction by the three sides of a triangle,
taken in order, they will be in equilibrium.” O Fig. 1.5
BASIC CONCEPTS OF ENGINEERING MECHANICS 7
1.6.2. M.K.S. System of Units. In this system, length is expressed in metre, mass in
kilogram and time in second. The unit of force in this system is expressed as kilogram force
and is represented as kgf.
1.6.3. S.I. System of Units. S.I. is abbreviation for ‘The System International d’Units’.
It is also called the International System of Units. In this system length is expressed in metre
mass in kilogram and time in second. The unit of force in this system is Newton and is
represented N. Newton is the force acting on a mass of one kilogram and producing an
acceleration of one metre per second square. The relation between newton (N) and dyne is
obtained as
One metre
One Newton = One kilogram mass ×
s2
100 cm
= 1000 gm × (Q one kg = 1000 gm)
s2
gm × cm
= 1000 × 100 ×
s2
= 105 dyne
RSQ gm × cm
dyne =
UV
T s2 W
When the magnitude of forces is very large, then the unit of force like kilo-newton and
mega-newton is used. Kilo-newton is represented by kN.
One kilo-newton = 103 newton
or 1 kN = 103 N
and One mega newton = 106 Newton
The large quantities are represented by kilo, mega, giga and tera. They stand for :
Kilo = 103 and represented by .......k
Mega = 106 and represented by .......M
Giga = 109 and represented by .......G
Tera = 1012 and represented by ........T
Thus mega newton means 106 newton and is represented by MN. Similarly, giga newton
means 109 N and is represented by GN. The symbol TN stands for 1012 N.
The small quantities are represented by milli, micro, nano and pico. They are equal to
Milli = 10–3 and represented by .......m
Micro = 10–6 and represented by .......μ
Nano = 10–9 and represented by ........n
Pico = 10–12 and represented by .......p.
Thus milli newton means 10–3 newton and is represented by mN. Micro newton means
–6
10 N and is represented by μN.
Table 1.1 shows the multiples and sub-multiples of the S.I. units prefixes.
Table 1.1. S.I. Prefixes
The relation between kilogram force (kgf) and newton (N) is given by one kgf = 9.81 N
Weight of a body is the force with which the body is attracted towards earth. If
W = weight of a body, m = mass in kg, then W = m × g Newtons
If mass, m of the body is 1 kg, then its weight will be,
m FGQ m IJ
W = 1 (kg) × 9.81
s 2 = 9.81 N. H N = kg
s 2 K
1.6.4. Trigonometric Formulae and Expressions. The following are the trigonometric
formulae in a right-angled triangle ABC of Fig. 1.7.
AC AB
(i) sin θ = (ii) cos θ =
BC BC
AC
(iii) tan θ =
AB
C
(iv) sin (A + B) = sin A cos B + cos A sin B
(v) sin (A – B) = sin A cos B – cos A sin B
(vi) cos (A + B) = cos A cos B – sin A sin B
(vii) cos (A – B) = cos A cos B + sin A sin B
tan A + tan B
(viii) tan (A + B) =
1 − tan A tan B
tan A − tan B 90°
(ix) tan (A – B) =
1 + tan A tan B A B
(x) sin 2A = 2 sin A cos A Fig. 1.7
(xi) sin2 θ + cos2 θ = 1.
1.6.5. Differentiation and Integration
1. Differentiations. (i) Differentiation of a quantity (say A) with respect to x is written
d dA
as ( A) or
dx dx
d d d
(ii) ( x 4 ) = 4x3, ( x n ) = n xn – 1 and ( x) = 1
dx dx dx
d
(iii) (8x + 5)4 = 4 (8x + 5)3 × 8
dx
d
(iv) (4) = 0 as differentiation of constant is zero.
dx
d dv du
(v) (u.v) = u . + v. [when u and v are functions of x]
dx dx dx
(vi) Differentiation of trigonometrical functions
d
(sin x) = cos x
dx
10 ENGINEERING MECHANICS
d
(cos x) = – sin x
dx
d
(tan x) = sec2 x.
dx
2. Integrations. (i) Integration of a quantity (say A) with respect to x is written as
∫ Adx.
(ii)
z x n dx =
x n+1
n+1
(iii) ∫ 4dx = 4x
(iv) z (8 x + 5) 4 + 1
(8 x + 5) 4 dx =
(4 + 1) × 8
.
Problem 1.1. Two forces of magnitude 10 N and 8 N are acting at a point. If the angle
between the two forces is 60°, determine the magnitude of the resultant force.
Sol. Given :
Force P = 10 N
Force Q=8N
Angle between the two forces, α = 60°
The magnitude of the resultant force (R) is given by equation (1.1)
R= P 2 + Q 2 + 2 PQ cos α = 10 2 + 8 2 + 2 × 10 × 8 × cos 60°
1
= 100 + 64 + 2 × 10 × 8 × 2 (Q cos 60° = 1
2
)
= 100 + 64 + 80 = 244 = 15.62 N. Ans.
Problem 1.2. Two equal forces are acting at a point with an angle of 60° between them.
If the resultant force is equal to 20 × 3 N, find magnitude of each force.
Sol. Given : Angle between the force, α = 60°
Resultant, R = 20 × 3
The forces are equal. Let P is the magnitude of each force.
Using equation (1.3), we have
α FG 60° IJ = 2P cos 30°
R = 2P cos
2
or 20 × 3 = 2P × cos H2K
3 FQ cos 30° = 3 I
= 2P ×
2
=P× 3 GH 2 JK
20 × 3
∴ P== 20 N.
3
∴ Magnitude of each force = 20 N. Ans.
Problem 1.3. The resultant of the two forces, when they act at an angle of 60° is 14 N. If
the same forces are acting at right angles, their resultant is 136 N. Determine the magnitude
of the two forces.
Sol. Given :
Case I
Resultant, R1 = 14 N
Angle, α = 60°
BASIC CONCEPTS OF ENGINEERING MECHANICS 11
Case II
Resultant, R2 = 136 N
Angle, α = 90°
Let the magnitude of the two forces are P and Q.
Using equation (1.1) for case I.
R= P 2 + Q 2 + 2 PQ cos α
or 14 = P 2 + Q 2 + 2 PQ × cos 60° = P 2 + Q 2 + 2 PQ × 1
2
or 14 = P 2 + Q 2 + PQ
Squaring, 196 = P2 + Q2 + PQ ...(i)
Using equation (1.2 A) for case II,
R= P 2 + Q2 or 136 = P 2 + Q2
or 136 = P2 + Q2 (Squaring both sides) ...(ii)
Subtracting equation (ii) from equation (i), we get
196 – 136 = P2 + Q2 + PQ – (P2 + Q2)
or 60 = PQ ...(iii)
Multiplying the above equation by two, we get 120 = 2PQ ...(iv)
2 2
Adding equation (iv) to equation (ii), we get 136 + 120 = P + Q + 2PQ
or 256 = P2 + Q2 + 2PQ or (16)2 = (P + Q)2
or 16 = P + Q
∴ P = (16 – Q) ...(v)
Substituting the value of P in equation (iii), we get
60 = (16 – Q) × Q = 16Q – Q2 or Q2 – 16Q + 60 = 0
∴ This is a quadratic equation.
Q 100 N Q
P
50 N
30°
a a q P
15°
O O