CONCEPT OF FORCE

by Dr. Abhijit Chaudhuri

Dept. of Applied Mechanics
IIT Madras, Chennai, India

A force represents an action of one body to another body, which changes or

tends to change the motion of the body acted on.
Types of forces:
i.

Surface force: It acts on each surface element of the body. The intensity
may vary along the surface (i.e. from one surface element to other surface
element) . E.g. pressure force, shear force etc

ii.

Body force: It acts on each body element of the body. Here also the
intensity may vary. E.g. Weight, magnetic, electrostatic forces, etc.

REVIEW OF VECTORS

by Dr. Abhijit Chaudhuri

Dept. of Applied Mechanics
IIT Madras, Chennai, India

There are some quantities in in mechanics which are described by magnitude

and direction. Such as displacement, velocity, acceleration, force, moment etc.

Representation of vector:

Graphical representation
Algebraic representation

Graphical representation
Length of the arrow indicates the magnitude of vector
Direction of the arrow indicates the direction of vector
Equality of vector :

F1

F1

F2

F1 = F2
If length and direction of both arrows are same.
Note the line of actions are different

F3

F1 = F3

Effects of equal vectors may not be same

F2

(1)

F1

by Dr. Abhijit Chaudhuri

Dept. of Applied Mechanics
IIT Madras, Chennai, India

F1 = F2

F1 may cause only sliding while F2 may cause both sliding and toppling
(2)

F2

F1

In both configurations (1) and (2), F2 is same but acting at different point.
However the effects are same. Due to this force is called transmissibility vector.

by Dr. Abhijit Chaudhuri

Dept. of Applied Mechanics
IIT Madras, Chennai, India

Algebraic representation
Unit vectors are often denoted by

n or e .

It implies that n = e = 1

There are special name of the unit vector along x, y and z axis.

i = j = k = 1

j
y

Az

Ax

A = Ax + Ay + Az = Axi + Ay j + Az k

Ay

() ()

Ax = A cos cos

Ay = A cos ( ) sin ( )

Az = A sin ( )

by Dr. Abhijit Chaudhuri

Dept. of Applied Mechanics
IIT Madras, Chennai, India

A = Axi + Ay j + Az k

B = Bxi + B y j + Bz k

C = C xi + C y j + C z k

Addition of vectors:

) (

A + B + C = Ax + Bx + C x i + Ay + B y + C y j + Az + Bz + C z k

Product of two vectors

Dot/scalar product :

A B = A B cos

()

Using algebraic representation,

is the angle between the two vectors

A B = Ax Bx + Ay B y + Az Bz

How to calculate the angle between two vectors using dot product?

Ax Bx + Ay By + Az Bz
1
= cos
2
Ax + Ay 2 + Az 2 Bx 2 + By 2 + Bz 2

)(

by Dr. Abhijit Chaudhuri

Dept. of Applied Mechanics
IIT Madras, Chennai, India

( ))

( )) j + Az k

A = Ax + Ay + Az = Ax cos Ay sin i + Ax sin + Ay cos

( )

( )

= Ax i + Ay j + Az k
Equating all three components from both sides of the equation:
Ax = Ax cos ( ) Ay sin ( )
Ay = Ax sin ( ) + Ay cos ( )
Az = Az

Ax = Ax cos ( ) + Ay sin ( )
Ay = Ax sin ( ) + Ay cos ( )
Az = Az

by Dr. Abhijit Chaudhuri

Dept. of Applied Mechanics
IIT Madras, Chennai, India

Dot product is invariant to the frame of reference (coordinate system)

Coordinate system 1

Az

Coordinate system 2

Az

Ay

Ax

Ax

A
Ay

z z

Ax = Ax cos i + Ax sin j

Ay = Ay sin i + Ay cos j

Az = Az k

( )
( )

( )
( )

by Dr. Abhijit Chaudhuri

Dept. of Applied Mechanics
IIT Madras, Chennai, India

Cross/vector product : C = A B = A B sin ( ) n

n is the unit vector perpendicular to the plane containing the vectors A and B .
Using algebraic representation,

C = Ax

Ay

Bx

By

Az = Ay Bz Az B y i + ( Az Bx Ax Bz ) j + Ax B y Ay Bx k
Bz

What is the direction of C = A B ?

Examples: M = r F and v = r
Both moment and angular velocity are positive when anticlockwise/counterclockwise

by Dr. Abhijit Chaudhuri

Dept. of Applied Mechanics
IIT Madras, Chennai, India

One more classification of forces:

1. Concurrent forces: Lines of action of all forces intersect at a comment points

F4

F1

F2

Surface are frictionless

F3
2. Coplanar forces: Lines of action of all forces lie on a same plane

F4

F1

F3

F2

3. Collinear forces: All forces have same line of action

by Dr. Abhijit Chaudhuri

Dept. of Applied Mechanics
IIT Madras, Chennai, India

1. Rigid body:

A rigid body does not deform under any force

i.e all particles inside a rigid body remain at fixed distance from each
other irrespective to the forces acting on the body

2. Distributed and concentrated force:

Concentrated force acts at a point on a point.
i) Distributed surface force is approximated as a concentrated force.
Distributed force

Equivalent concentrated force

ii) Distributed body force is also approximated as a concentrated force.

Weight acts at the CG

by Dr. Abhijit Chaudhuri

Dept. of Applied Mechanics
IIT Madras, Chennai, India

Moment of a force:

Moment is the measure of tendency of the force to rotate the

body about any point of interest.

F
A

M O = d F = r F sin ( )

Moment as a vector: M O = r F

Moment of a couple:
Couple is a force system consisting of a pair of equal, opposite
and parallel but non-collinear forces acting on same plane.

O
r2

r1

B
F2

rAB A

F1

M O = r1 F1 + r2 F2 = r1 r2 F1 = rAB F1

Moment of a couple is same for all points.

r1

rB
F1

r1 = r

M1 = M

Moment of a force about a line:

C

Z
Y
O

M2

M1

r
A

by Dr. Abhijit Chaudhuri

Dept. of Applied Mechanics
IIT Madras, Chennai, India

F1

F1 = F

M2 M

M BC is the moment F about line BC.

It is the projection of M B on BC
or component along BC

Let nBC is the unit vector along line BC

n

BC, x

M BC = nBC M B = nBC rAB F = rAB, x

Fx

nBC, y

nBC, z

rAB, y

rAB, z

Fy

Fz

by Dr. Abhijit Chaudhuri

Dept. of Applied Mechanics
IIT Madras, Chennai, India

Show that M BC = nBC M B = nBC M C

nBC M C = nBC rAC F = nBC rAB + rBC F

= nBC rAB F + nBC rBC F

nBC, x
r

nnBC

r
BC rBC
BCFF == rBC, x
Fx

nBC, x
rBC, y
Fy

nBC, x
rBC, z = 0
Fz

Rows are not linearly independent

Hence nBC M C = nBC M B

by Dr. Abhijit Chaudhuri

Dept. of Applied Mechanics
IIT Madras, Chennai, India

Free body diagram (FBD):

A sketch of isolated system or body or body part along with

the forces acting on it either externally and by constraints
1. FBD of the sphere when surfaces are frictionless

W
N1
N2
2. FBD of the sphere when surfaces are frictionless

F1
N1

W
F2
N2

by Dr. Abhijit Chaudhuri

Dept. of Applied Mechanics
IIT Madras, Chennai, India

Free body diagram (FBD):

A sketch of isolated system or body or body part along with

the forces acting on it either externally and by constraints

1. FBD of the sphere when surfaces are frictionless

F
W

Will the sphere be in

static equilibrium?

N1
N2

2. FBD of the sphere when surfaces are frictionless

If the external force creates a tendency

of clockwise rotation

W
N1

F1

F2
N2

by Dr. Abhijit Chaudhuri

Dept. of Applied Mechanics
IIT Madras, Chennai, India

2 m
5 m
Y
50 N
45o A
140 Nm
C
E
4 m

60 N

40 N

80 N
30o
X

R = ?
Y
X
Dx = ?

by Dr. Abhijit Chaudhuri

Dept. of Applied Mechanics
IIT Madras, Chennai, India

2 m
5 m
Y
50 N
45o A
140 Nm
C
E
4 m

60 N

40 N

80 N
30o
X

Rx = Fx = 80cos30o + 40 60cos 45o = 66.86N

Ry = Fy = 80sin 30o + 50 + 60sin 45o = 132.43N

Ry Dx = M = 50 5 60sin 45o 7 + 60cos 45o 4 + 140 = 237.28Nm
Dx = 1.79m

by Dr. Abhijit Chaudhuri

Dept. of Applied Mechanics
IIT Madras, Chennai, India

SUPPORTS AND REACTIONS

Supports restrict certain motions of the body or system

In turns they cause reactive forces on the body or system

Restrict vertical
motion

Rx = 0; M = 0
Roller support

Restrict vertical
and horizontal
motion

Restrict vertical,
horizontal motion
and rotation

M =0

Pin or Hinge support

Fixed or build in support

Rx

Rx

Ry

Ry

Ry

Ry

Ry

Ry

Rx

Rx
M

by Dr. Abhijit Chaudhuri

Dept. of Applied Mechanics
IIT Madras, Chennai, India

Z
Y

Determine the tension in cables AD & BE and reactions at C.

by Dr. Abhijit Chaudhuri

Dept. of Applied Mechanics
IIT Madras, Chennai, India

Solution
Free body diagram of the rod AC

Rcx

Rcz

Rcy

TBE

B
Total five unknowns

TAD

However if we write the moment balanceequation

for point
C, that will consists only two unknowns TBE and TAD .

MC = 0

F = 880 N

rB|C TBE + rA|C TAD + rA|C F = 0 --------------------------- (1)

The direction of unknown cable tensions TBE and TAD are known

TBE = n BE TBE , TAD = n AD TAD ,

Here TBE and TADcorresponds to the magnitude

--------------------------- (2)

by Dr. Abhijit Chaudhuri

Dept. of Applied Mechanics
IIT Madras, Chennai, India

From geometry:

rB|C = rB = 1.8i and rA|C = rA = 2.4i

n BE =

n AD =

C is the origin

rB|E
rB|E

rA|D
rA|D

=
=

rB rE
rB|E

rA rD
rA|D

1.8i + 0.9 j + 0.6k

=
2.1
2.4i 1.2 j + 0.3k
=
2.7

Substituting the vectors in Eq. (1), we get

= TBE

i
1.8

j
0

k
i
0 + TAD 2.4

1.8 0.9 0.6

2.1 2.1 2.1

j
0

2.4
1.2

2.7
2.7

k
i j
0 + 2.4 0
0.3
2.7

k
0

=0

0 880

2.4 0.3
2.4 1.2
1.8 0.6
1.8 0.9

TBE
TAD + 2.4 880 j +
TBE
TAD k = 0
2.1
2.7
2.7

2.1

--------------------------- (3)

by Dr. Abhijit Chaudhuri

Dept. of Applied Mechanics
IIT Madras, Chennai, India

Form the Eq. (3), we can write the following two linear simultaneous equations:

1.8 0.6
2.4 0.3
TBE
TAD + 2.4 880 = 0
2.1
2.7

1.8 0.9
2.4 1.2
TBE
TAD = 0
2.1
2.7

--------------------------- (4)

Solving Eq. (4) we find TBE = 2986.7 N and TAD = 2160 N.

The reactions at C are solved from F = 0

Fx = 0

Rcx

1.8
2.4
TBE
TAD = 0 Rcx = 4480 N
2.1
2.7

Fy = 0

Rc y +

0.9
1.2
TBE
TAD = 0 Rc y = 320 N
2.1
2.7

Fz = 0

Rcz +

0.6
0.3
TBE +
TAD 880 = 0 Rcz = 213.3N
2.1
2.7


by Dr. Abhijit Chaudhuri
T
We can find out the force AD directly Dept. of Applied Mechanics
IIT Madras, Chennai, India

by taking the moment about the line CE

MCE = 0

nCE rB|C TBE + nCE rA|C TAD + nCE rA|C F = 0

--------------------------- (1)

X T
BE intersecting the line CE

From geometry: nCE =

rE|C
rE|C

From Eq. (1) we get:

TAD 2.4

2.4
2.7

0.9 j + 0.6k
2

0.9 + 0.6

0.9 j + 0.6k
1.17

0.9

0.6

1.17
0

1.17
0 + 2.4

1.2
2.7

0.3
2.7

0.9

0.6

1.17
0

1.17
0 =0

To find TBE directly by take the moment about the line CD.

880

In a manufacturing operation, three holes are drilled simultaneously in a work piece

perpendicular to the surfaces of the work piece. By replacing the couples applied to the
drills with a single equivalent couple, find the location of two point clamps that
will feel the least force, which have to be provided to prevent the rotation of the
work piece.

Draw the complete free body diagrams (i) Overall system (ii) Member ABC
(iii) Member DCE.