ME F211 - MF F211 -

Mechanics of Solids
Fundamental principles of mechanics
Prof.. Sharad Shrivastava
BITS Pilani Department of Mechanical Engineering
Pilani Campus

1 8/21/2024
Mechanics Mechanics of solids

Study of forces & motion Applied mechanics (to

system of particular
interest)
w/4
w w/4 What comes under
mech. of solids ?

w/4 w/4 We apply law of mechanics on structural

elements for analysing & designing various
machines and load bearing structure
We used principle of mechanics to find support reactions
In transfering these forces from their point of application to supports,
materials of structure (wood/steel) develops: resisting forces, generates
stresses, undergoes deformation (all these are studied in mech sol.)
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 Generalized Procedure in applied mechanics

Step1: Select system of interest.

Step2: Idealization of the system( simplification)
Step3: Apply principle of mechanics (predictions)
Step4: Compare these predictions with the actual system
(tests and experiments)
Step5: If results not satisfactory construct a different
idealized model and repeat the steps

In Research investigations step 1 and 2 are the most difficult

ones

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Step 3- needs understanding of forces and motions

Two different types of motions are possible in mechsol.

Overall change in position

Local distortions in shape:
with time
deformation

We will be considering static

dynamics
and rigid body ( small
deformation)

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 Rigid Bodies
No deformation (distance between two points of the body does not
change under the action of applied force)

No Engg. structure practically is absolute rigid

W W
W W
L L
As bending deformation is very small, the distance b/w each weight and fulcrum
remains L/2. Hence it can be assumed rigid and straight. (if equlibrium of lever is
to be studied then these assumptions are appropriate.

But if strength of lever is to be studied then the small deformation has to be

considered

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 Principle of mechanics (law of
transmissibility)

The point of application of a force may be transmitted along

its line of action, without changing the effect of the force on
any rigid body to which it may be applied.
The use of theorem is limited to those problems of statics in
which we are interested only in condition of equilibrium of a
rigid body and not with the internal forces to which it is
applied
• Moving the point of application of
the force F to the rear bumper
does not affect the motion or the
other forces acting on the truck.

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 Constraints,action and reaction

Constraint: Restriction to the free motion of body in any

direction.

Based on the nature of constraints the supports are

classified as:

• Roller support
• Hinged support
• Built in support, clamped or fixed

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Fixed support

Roller support Hinged support

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Free body diagram

To draw the free body diagram of a body we remove all

the supports and replace them by reactions which these
supports exerts on the body.
Equations of Equilibrium
 For equilibrium of a rigid body in 2D,
∑Fx = 0; ∑Fy = 0; ∑MO = 0

 ∑Fx and ∑Fy represent sums of x and y components of

all the forces
 ∑MO represents the sum of the couple moments and
moments of the force components
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 Equilibrium of a body subjected to two
forces
Two forces can be in equilibrium only if they are equal in
magnitude, opposite in direction and have the same line of
action

Equilibrium of a body subjected to three

forces
The line of action of all the forces should meet at a point.

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Problem3
A force of 5000N is applied at the centre C of the beam AB of length
5m. Find the reactions at the supports.

5000N

C
A B

5m

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BITS Pilani, Pilani Campus
Problem2

Draw the free-body diagram of the uniform beam. The

beam has a mass of 100kg.

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Problem 1.13 TB)

Compare the force F required to just start the 900N lawn roller over a
75mm step when
a) The roller is pushed Ans: a) 1866.05N b) 607.28N
b) The roller is pulled
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BITS Pilani, Pilani Campus
BITS Pilani, Pilani Campus
The masses of the person and the diving board are 54kg and 36kg
respectively. Assume that they are in equilibrium.
a) Draw the Free body diagram of the diving board.
b) Determine the reactions at support A and B

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BITS Pilani, Pilani Campus
The person exerts 20-N forces on the pliers. The free-
body diagram of one part of the pliers is shown. Notice
that the pin at C connecting the two parts of the pliers
behaves like a pin support. Determine the reactions at C
and the force FB exerted on the pliers by the bolt.

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BITS Pilani, Pilani Campus
Problem1

P
C

A 450

B
Two similar cylinders P&Q each of weight 900N rests inside a box. Draw FBD of:
a) Both the cylinders taken together
b) The cylinder P
c) The cylinder Q
d) Find the reactions at A,B and C
Neglect frictions between the cylinders and the box

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 Friction

 Very important forces of mechanics

 Comes into action whenever a tangential force is applied
to a body normally pressed against the surface of the
other.
Main properties of friction force acting on A:
 No relative motion between A and B
 Static friction force, FS
 Body A slides on body B
 Kinetic friction force, Fk

Limiting case of friction: FS = µS N

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 The coefficients of friction fs are:
– Nearly independent of the area of the interface

– Nearly independent of the roughness's of the two surfaces

– fs is independent of the time of contact of the surfaces at rest.

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BITS Pilani, Pilani Campus
BITS Pilani, Pilani Campus
Friction and the Normal Force

The maximum frictional force is proportional to the

normal contact force.

An increase in the normal force results in an increase in

the maximum friction.

This is because the molecules on the two surfaces are

pushed together more, thus increasing their interactions.

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Friction and Surface Area

Friction is not affected by the size of the surface area

in contact.

If the normal force remains constant, but the

contacting surface area is increased, then the normal
force is spread out over more molecules, thus the
force on each molecule is reduced.

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Find the range of values of W which will hold this block in
equilibrium on the inclined plane.
– Assume cable is weightless, pulley is frictionless.
– fs = 0.5

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PROBLEM 1.45

A longshore man can barely start pushing a trunk up a 300 concrete ramp. He
can barely hold it from sliding back when the slope is 600 . What is the
coefficient of static friction between the trunk and concrete.

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 60o
W2

P
W1

A block of weight W1 = 1000 N rests on a horizontal plane and supports

on top of it another block of weight W2 = 250 N as shown in Fig. The
block W2 is attached to a vertical wall by an inclined string which makes
an angle of 60° with the wall. What should be the value of horizontal
force ‘P’ to cause motion of the lower block to impend? Also find the
corresponding tension in the string. Take µ = 0.3 for all surfaces.

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PROBLEM 1.37

A circular cylinder A rests on top of two-circular cylinders B and C, all

having the same radius r. The weight of A is W and that of B and C is W/2
each. Assume that coefficient of friction between the flat surfaces of the
half cylinders and the horizontal table top is f. Determine the maximum
distance d between the centres of the half cylinders to maintain
equilibrium.
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TRUSSES
Trusses

Trusses: Engineering structures that are composed only of two-force

members. e.g., bridges, roof supports

Actual trusses: Airy structures composed of slender members (I-beams,

channels, angles, bars etc) joined together at their ends by welding, riveted
connections or large bolts and pins.

A typical truss structure

Gusset plate

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BITS Pilani, Pilani Campus
 Ideal trusses:

Assumptions
• Ideal truss members are connected only at their ends.
• Ideal truss members are connected by frictionless
pins
• The truss structure is loaded only at the pins(joints)
• Weights of the members are neglected

Frictionless pin
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These assumptions allow us to idealize each
truss member as a two-force member (members
loaded only at their extremities by equal opposite
and collinear forces)
member in
compression

member in
tension

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 Stability Criteria

m=2j-3 (rigid and perfect truss)

j- number of joints.
m- number of members.
3- number of support reaction

m<2j-3 Truss unstable (under rigid and

collapsible)

m>2j-3 Over rigid and Statically indeterminate

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Example

m=2j-3

m (Number of members) = 13
j (Number of joints) = 8
Number of supports reactions= 3

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Analysis Methods (to determine axial
force in members)

Methods of Joints

Method of Sections

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Method of Joints
Truss in Equilibrium => Each Joint in Equilibrium

Procedure
STEP1: Calculate support reactions
Consider the entire truss (structure) as a rigid body and
draw FBD. Then using eq. of equilibrium calculate the
support reactions.

STEP 2: Select a joint

At which there are max two unknown forces and one or
more known forces acting on it. Assume the forces in all the
members to be tensile. Draw FBD of the joint and apply eq
of equilibrium to it.

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STEP 3:SELECT OTHER JOINTS
Repeat the step 2 until all the forces in the members are
calculated.

STEP 4: Write the answers in table representing members,

forces, nature ( compressive or tensile)

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 Zero Force Members

These members are used to increase the stability of

the truss during construction and to provide
support if the applied loading is changed. There
are two conditions:
1. When 2 members meeting at a joint are not
collinear and there is no external load or support
reaction acting at the joint, the members must be
zero force members.
2. When there are 3 members meeting at a joint, of
which 2 are collinear and the third be at an angle
and if there is no external load or support
reactions at the joint the force in the third
member is zero.
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Identify the zero force members

FFD, FGE
FHE, FDH

FBC, FFG, FFI,

FHI, FHK, FJK

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Calculate the support reactions and axial forces in all the members

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Step 1: Calculate the support reactions (Draw the FBD of
the entire structure by removing the supports)

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Step2: Take Joint C and Draw the FBD of Joint C

(2)

Solving eq 1 and 2

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A

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B

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BITS Pilani, Pilani Campus
BITS Pilani, Pilani Campus
Calculate the support reactions and axial forces in all the
members

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Find the forces in members of the truss

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BITS Pilani, Pilani Campus
BITS Pilani, Pilani Campus
BITS Pilani, Pilani Campus
Method of sections

The method of joints is most effective when the

forces in all the members of a truss are to be
determined. If however, the force in only one or
a few members are needed, then the method of
sections is more efficient.

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Step1:calculate support reactions if necessary
Step 2: pass an imaginary section, which cuts max 3
members including the members in which the forces are
required to be calculated. The section should separate
the truss entirely in to two portions.
* the section should pass through the members not through
the joints.
Step3: choose the portion with minimum no. of forces. (if
same any portion could be chosen)
Step 4: for further calculations the forces of only chosen
portions has to be considered. But the moment
equilibrium equations could be applied at any point of the
truss.
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Step1:calculate support
reactions if necessary

Step 2: pass an imaginary

section, which cuts max 3
members including the
members in which the forces
are required to be calculated.
The section should separate
the truss entirely in to two
portions

* Draw FBD of two portions

separated. Show the unknown
forces in the members( we
will assume all the forces in
the members to be tensile to
start with)
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Step3: choose the portion with
minimum no. of forces. (if same any
portion could be chosen)

Step 4: for further calculations the Apply the three equations of

forces of only chosen portions has to equilibrium to the section.
be considered. But the moment If possible, attempt to develop
equilibrium equations could be an equation in just one
applied at any point of the truss. unknown.
Look for points where the lines
of action of several forces are
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Determine the force in members GE, GC and BC of
the truss shown in the Figure. Indicate whether the
members are in tension or compression.

ANS:
RAx=400N( )
RAy=300N
RD=900N
FGE=800N(C)
FBC=800N(T)
FGC=500.11N(T)

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Find the forces in members CE, CF and FH of the truss
shown below.
20kN B C E G I

3m

A J
3m D 3m F 3m H 3m

Solution : FCE = 10kN(C)

FCF = 7.07kN(C)
FFH =5kN(T)
61
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Find the forces in members CE and CD of the truss
shown below.
10kN

B 3m C 3m E 3m
40º G

Solution :
D
FCE = 11.92kN(T) FCD = 0
A
62
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 Introduction to Mechanics of
deformable bodies

BITS Pilani Prof . Sharad Shrivastava

Pilani Campus Mechanical Engineering Department
B
I
Analysis of
T deformable bodies
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P
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a To analyze deformable bodies, 3 steps are required:
n
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, • Study of force and equilibrium requirements
D
e • Study of deformation and conditions of geometric fit
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m • Force – deformation relation
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PROBLEM
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i A machine part carrying a load F terminates in a piston which fits in to a cavity as
l shown in fig. Within the cavity are two springs arranged coaxial with each other. Each
a spring has the characteristic that the force required to deflect it is proportional to the
n amount of deflection. Such a spring is said to have a linear force-deflection relation,
i and the amount of force required to produce a unit deflection is called the spring
, constant of the spring. We use the symbols KA and KB to denote the spring constants
D of the two springs in the cavity. Calculate how much of the load F is carried by the
e spring with constant KA.
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P
i Model :
l Piston and two springs
a
n Assumption.:
i The ends of spring are flat, such that resultant compressive force on the
, springs are along its axis
D STEP 1: STUDY OF FORCES AND EQUILIBRIUM REQUIREMENTS
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lSTEP 2: STUDY OF DEFORMATION AND GEOMETRIC
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COMPATIBILTY ( GEOMETRIC FIT)
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, Here the action of piston is to cause both the springs to
D move by the same amount as piston
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B
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STEP 3: FORCE- DEFORMATION
P
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RELATION
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Uniaxial
B
Loading and
Deformation
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B
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Changes in length under non-
S uniform conditions
P
i B C D
A
l
a
n
50 kN 80 kN 40 kN 10 kN
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D
e
e
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e A brass bar having cross-sectional area of 1000mm2 is subjected to axial
d forces as shown in fig. Find the total elongation of the bar.
t Given: E= 1.05X105 N/mm2 , LAB= 600mm, LBC= 1m, LCD= 1.2m,
o
b
e
Answer: 0.2857mm
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d A member ABCD is subjected to point loads P1, P2, P3 and P4 as
t shown in fig. Calculate the force P2 necessary for equilibrium, if
o P1=45kN, P3=450kN and P4=130kN. Determine the total elongation
b of the member, assuming the modulus of elasticity to be 2.1X105
e
N/mm2
U P2= 365 kN , 0.4903 m(extension)
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B
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T Static Indeterminacy
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i • Structures for which internal forces and
l reactions cannot be determined from statics
a alone are said to be statically indeterminate.
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• Redundant reactions (supports) are
,
D
replaced with unknown loads which along
e with the other loads must produce
e compatible deformations.
m
e • Deformations due to actual loads and
d redundant reactions are determined
t separately and then added or superposed
o (method of superposition)
b
e   L R  0
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Indeterminac
B
y
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P
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l Determine the reactions at A and B for the steel
a bar and loading shown, assuming a close fit at
n both supports before the loads are applied.
i SOLUTION:
,
D • Consider the reaction at B as redundant, release
e the bar from that support, and solve for the
e displacement at B due to the applied loads.
m • Solve for the displacement at B due to the
e redundant reaction at B.
d • Require that the displacements due to the loads
t and due to the redundant reaction be
o compatible, i.e., require that their sum be zero.
b
e • Solve for the reaction at A due to applied
U loads and the reaction found at B.
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SOLUTION
:

• Solve for the displacement at B due to the applied

loads with the redundant constraint released,
P1  0 P2  P3  600103 N P4  900103 N

A1  A2  400106 m 2 A3  A4  250106 m 2
L1  L2  L3  L4  0.150 m

 Pi Li  1.125109
L 
i Ai Ei E
• Solve for the displacement at B due to the
redundant constraint,
P1  P2  RB

A1  400 106 m 2 A2  250106 m 2

L1  L2  0.300 m
PL  3
δR   i i   1.9510 RB 
i Ai Ei E
BITS Pilani, Deemed to be University under Section 3 of UGC Act, 1956
B
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P
i • Require that the displacements due to the loads and
l due to the redundant reaction be compatible,
a
n   L  R  0
i
,  1.12510  
9 1.95103 R 
B 0
E E
D
e RB  577 103 N  577 kN
e
m • Find the reaction at A due to the loads and the
e reaction at B
d  Fy  0  R A  300 kN  600 kN  577 kN
t
o RA  323kN
b
e R A  323kN
U
RB  577 kN
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B
Ex:
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d A vertical steel bar ABC has lengths and areas as given in fig. A load P1 acts at
t point C. A horizontal arm BE is pinned to the vertical bar at B and carries a load
o P2 at E. Calculate the vertical deflection δ at point C if,
b P1 =10kN, P2 =26 kN, a=b, L1 =0.5m, A1 =160mm , L2 =0.8m, A2 =100mm ,
2 2

e E= 200GPa for steel.

U Neglect the weight of the bar.
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B
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Displacement
T diagram
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l So far we have discussed the procedure for finding the changes in
a length of single axially loaded members
n
When the structure contains 2 or more than 2 axially loaded
i
, members having pinned connections at their ends then we can
D use displacement diagrams for determining displacements.
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B
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P
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B
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P
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l FIND DISPLACEMENT OF POINT D DUE TO
B
a 20 KN LOAD
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, Steel rod A= 491mm2
D
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m 450
3m
e D
d
C Steel beam A= 3200mm2
t
o 20 kN
b
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U Given l= 3m, E=205GPa
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Energy
B
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P
i • A uniform rod is subjected to a slowly increasing load
l
a
• The elementary work done by the load P as the rod
n elongates by a small dx is
i dU  P dx  elementary work
,
D which is equal to the area of width dx under the load-
e deformation diagram.
e
m • The total work done by the load for a deformation x1,
e x1
d U   P dx  total work  strain energy
t 0
o which results in an increase of strain energy in the rod.
b
e • In the case of a linear elastic deformation,
U x1
n U   kx dx  12 kx12  12 P1x1
i 0
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B Work and Energy Under a
I
T Single Load
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P
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l • Knowing the relationship between
a force and displacement,
n PL
i x1  1
AE
,
2
D
U 1 P  P1L   P
1 L
e 2 1 AE  2AE
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B
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S Castigliano’s Theorem
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i When forces act on elastic systems subject to small displacements,
l
a
the displacement corresponding to any force, in the direction of the
n force, is equal to the partial derivative of the total strain energy with
i respect to that force.
,
D
U
e
e i 
m
e
Fi
d
t
o
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e Where:
U Fi = Force at i-th application point
n δi = Displacement at i-th point in the direction of Fi
i
U = Total strain energy
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B
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T Utilizing a Fictitious Force
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P
i Castigliano’s method can be used to find a deflection at a point
l
a
even if there is no force applied at that point.
n Apply a fictitious force Q at the point, and in the direction, of the
i desired deflection.
,
D
Set up the equation for total strain energy including the energy due
e to Q.
e Take the derivative of the total strain energy with respect to Q.
m
e
Once the derivative is taken, Q is no longer needed and can be set
d to zero.
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B
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P
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l FIND DISPLACEMENT OF POINT D DUE TO
B
a 20 KN LOAD
n
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, Steel rod A= 491mm2
D
e
e
m 450
3m
e D
d
C Steel beam A= 3200mm2
t
o 20 kN
b
e
U Given l= 3m, E=205GPa
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91 8/21/2024
BITS Pilani, Pilani Campus