Review For Exam #1: Equations of Equilibrium

1
A. J. Clark School of Engineering Department of Civil and Environmental Engineering A. J. Clark School of Engineering Department of Civil and Environmental Engineering A. J. Clark School of Engineering Department of Civil and Environmental Engineering A. J. Clark School of Engineering Department of Civil and Environmental Engineering A. J. Clark School of Engineering Department of Civil and Environmental Engineering
Third Edition
LECTURE
10
1, 2, and 3
Chapters
REVIEW FOR EXAM #1
by
Dr. Ibrahim A. Assakkaf
SPRING 2003
ENES 220 Mechanics of Materials
Department of Civil and Environmental Engineering
University of Maryland, College Park
LECTURE 10. REVIEW FOR EXAM I (CH. 1, 2, AND 3) Slide No. 1
ENES 220 Assakkaf
Review: Statics
Equations of Equilibrium
Rigid Body
F
1
F
2
F
2
x
y
z
i
j
k
2
ENES 220 Assakkaf
Review: Statics
For a rigid body to be in equilibrium, both
the resultant force R and a resultant
moments (couples) C must vanish.
These two conditions can be expressed
mathematically in vector form as
0 k j i
0 k j i
r r
r r

= + + =
= + + =
z y x
z y x
M M M C
F F F R
ENES 220 Assakkaf
Review: Statics
The two conditions can also be expressed
in scalar form as

= = =
= = =
0 0 0
0 0 0
z y x
z y x
M M M
F F F
3
ENES 220 Assakkaf
Review: Statics
Equilibrium in Two Dimensions
The term two dimensional is used to
describe problems in which the forces
under consideration are contained in a
plane (say the xy-plane)
x
y
ENES 220 Assakkaf
Review: Statics
For two-dimensional problems, since a
force in the xy-plane has no z-component
and produces no moments about the x- or
y-axes, hence
0 k
0 j i
r r
r r
= =
= + =

z
y x
M C
F F R
4
ENES 220 Assakkaf
Review: Statics
In scalar form, these conditions can be
expressed as

=
= =
0
0 0
A
y x
M
F F
ENES 220 Assakkaf
Review: Statics
Cartesian Vector Representation of A
Force
F
x
y
z
F
x
F
y
F
z
k j i
z y x
F F F F + + =
5
ENES 220 Assakkaf
Review: Statics
Cartesian Vector Representation of A
Force in Two Dimensions
F
F cos
F sin
j sin i cos
j i
F F
F F F
y x
+ =
+ =
r
ENES 220 Assakkaf
Review: Vector Operations
Dot or Scalar Product
The dot or scalar product or two
intersecting vectors is defined as the
product of the magnitudes of the vectors
and the cosine of the angle between them.
A B = AB cos
B
A
6
ENES 220 Assakkaf
Cross or Vector Product
A
B
C
C = A B = (AB sin ) e
C
A B = - B A
C
B B B
A A A B A
z y x
z y x
r r r
= =
k j i
e
C
ENES 220 Assakkaf
Example 3
If A = -3.75i 2.50j + 1.50k and
B = 32i + 44j + 64 k
determine the magnitude and direction of
the vector C = A B
64 44 32
5 . 1 5 . 2 75 . 3
k j i
= = B A C
r r r
7
ENES 220 Assakkaf
Example 3 (contd)
[ ] [ ]
[ ]
k 85 j 288 i 226
(-2.5)32 - 3.75(44) -
j 1.5(32) - 3.75(64) - - i 1.5(44) - 2.5(64) -
64 44 32
5 . 1 5 . 2 75 . 3
k j i
+ =
+
=
= = B A C
r r r
ENES 220 Assakkaf
Example 3 (contd)
( ) 376 ) 85 ( 288 ) 226 (
2 2 2
= + + = = C C
r
0 1 1
0 1 1
0 1 1
1 . 103
376
0 . 85
cos cos
0 . 40
376
288
cos cos
9 . 126
376
226
cos cos
=
= =
= = =
=
= =

C
C
C
C
C
C
z
zx
y
yx
x
x
r
r
r
8
ENES 220 Assakkaf
Introduction
Objectives
Mechanics of Materials
answers two questions:
Is the material strong enough?
Is the material stiff enough?
ENES 220 Assakkaf
Introduction
Objectives
If the material is not strong enough, your
design will break.
If the material isnt stiff enough, your
design probably wont function the way its
intended to.
9
ENES 220 Assakkaf
Internal Forces for Axially
Loaded Members
Analysis of Internal Forces
Assume that F
1
= 2 k, F
3
= 5 k, and F
4
= 8 k
F
1
F
2
F
3
F
4
k 1 5 2 8 or
; 0
Then
2
3 1 4 2 4 3 2 1
= =
= = + +

F
F F F F F F F F
ENES 220 Assakkaf
Loaded Members
What is the internal force developed on
plane a-a and b-b?
a
a
b
b
2k
1k
5k 8k
2k
1k
R
a-a
k 3 =
a a
R
10
ENES 220 Assakkaf
Loaded Members
a
a
b
b
2k
1k
5k 8k
k 8 =
b b
R
2k
1k
R
b-b
5k
ENES 220 Assakkaf
Axial Loading: Normal Stress
Stress
Stress is the intensity of internal force.
It can also be defined as force per unit
area, or intensity of the forces distributed
over a given section.
Area
Force
Stress =
(1)
11
ENES 220 Assakkaf
Axial Loading: Normal Stress
Normal Stress
F = magnitude of the force F
A = area of the cross sectional area of the
eye bar.
Units of Stress
lb/in
2
= psi
Kip/in
2
= ksi = 1000 psi
1 kPa = 10
3
Pa = 10
3
N/m
2
1 MPa = 10
6
Pa = 10
6
N/m
2
1 GPa = 10
9
Pa = 10
9
N/m
2
U.S. Customary Units SI System
ENES 220 Assakkaf
Shearing Stress
Illustration of Shearing Stress
P
P
P
P
s s
A
P
A
V
= =
avg
V
P
12
ENES 220 Assakkaf
Stresses on an Inclined Plane in
an Axially Loaded Member
Illustration
P
P
F
Original Area, A
Inclined Area, A
n
ENES 220 Assakkaf
Design Loads, Working Stresses,
and Factor of Safety (FS)
Factor of Safety
The factor of safety (FS) can be defined as
the ratio of the ultimate stress of the
material to the allowable stress
stress allowable
stress ultimate
FS =
13
ENES 220 Assakkaf
Displacement, Deformation, and
Strain
Strain
Two general types of strain:
Axial (normal) Strain
Shearing Strain
=
xy
s
Normal Strain Shearing Strain
L
ENES 220 Assakkaf
Strain
Average Axial Strain
True Axial Strain
L
n
=
avg
( )
dL
d
L
p
n n
L

=
=
0
lim
n L
14
ENES 220 Assakkaf
Strain
Average Shearing Strain
Since
s
is vary small,
sin = tan = , therefore,
tan
avg
=
L
s
=
avg

=
xy
s
L
ENES 220 Assakkaf
Example
A rigid steel plate A is supported by three
rods as shown. There is no strain in the
rods before the load P is applied. After P
is applied, the axial strain in rod C is 900
in/in. Determine
(a) The axial strain in rods B.
(b) The axial strain in rods B if there is a 0.006-in
clearance in the connections between A and
B before the load is applied.
Strain
15
ENES 220 Assakkaf
Strain
Example (contd)
42
"
72
"
B
C
B
A
P
ENES 220 Assakkaf
Strain
Example (contd)
42
"
72
"
B
C
B
A
1400 001400 . 0
42
006 . 0 0648 . 0
a)
1543 001543 . 0
42
0648 . 0
a)
in 0648 . 0 ) 72 ( 10 900
6
= =
= =
= = = =
= = = =

B
B
B
B
B
B
C C C
C
C
C
L
L
L
L
16
ENES 220 Assakkaf
Stress-Strain-Temperature
Relationships
General Stress-Strain Diagram
L
=
A
P
=
P
L
Rupture
ENES 220 Assakkaf
Relationships
Modulus of Elasticity, E
The initial portion of the stress-strain curve
(diagram) is a straight line. The equation
for this straight line is called the modulus of
elasticity or Youngs Modulus E
E =
=E
17
ENES 220 Assakkaf
Relationships
Shear Modulus of Elasticity, G
The shear modulus is similar to the
modulus of elasticity. However it is applied
to shear stress-strain.
G =
ENES 220 Assakkaf
Relationships
=G
= = G Slope
Shear Modulus of Elasticity, G
18
ENES 220 Assakkaf
Relationships
Poissons Ratio
A material loaded in one direction will
undergo strains perpendicular to the
direction of the load in addition to those
parallel to the load. The ratio of the lateral
or perpendicular strain to the longitudinal
or axial strain is called Poissons ratio.
( )G E
a
l
+ = = = 1 2
long
lat
ENES 220 Assakkaf
Relationships
Thermal Strain
The thermal strain due a temperature
change of T degrees is given by
T
T
=
19
ENES 220 Assakkaf
Relationships
Total Strain
The sum of the normal strain caused by
the loads and the thermal strain is called
the total strain, and it is given by
T
E
T
+ = + =
total

ENES 220 Assakkaf
Rods: Stress Concentrations
Fig. 1. Stress distribution near circular hole in flat bar
under axial loading
20
ENES 220 Assakkaf
Fig. 2. Stress distribution near fillets in flat bar under
axial loading
ENES 220 Assakkaf
Hole
Discontinuities of cross section may result in
high localized or concentrated stresses.
ave
max
= K
Fig. 3
21
ENES 220 Assakkaf
Fillet
Fig. 4
ENES 220 Assakkaf
To determine the maximum stress
occurring near discontinuity in a given
member subjected to a given axial load
P, it is only required that the average
stress
ave
= P/A be computed in the
critical section, and the result be
multiplied by the appropriate value of
the stress-concentration factor K.
It is to be noted that this procedure is
valid as long as
max

y
22
ENES 220 Assakkaf
Deformations of Members under
Axial Loading
Uniform Member
The deflection (deformation),, of the
uniform member subjected to axial loading
P is given by
EA
PL
=
(1)
ENES 220 Assakkaf
Axial Loading
Multiple Loads/Sizes
The deformation of of various parts of a rod
or uniform member can be given by

= =
= =
n
i
i i
i i
n
i
i
A E
L P
1 1

E
1
E
2 E
3
L
1
L
2
L
3
(2)
23
ENES 220 Assakkaf
Axial Loading
Relative Deformation
On the other hand, since both ends of bars
AB move, the deformation of AB is
measured by the difference between the
displacements
A
and
B
of points A and B.
That is by relative displacement of B with
respect to A, or
EA
PL
A B A B
= =
/
(3)
ENES 220 Assakkaf
Statically Indeterminate
Structures
Determinacy of Beams
For a coplanar (two-dimensional) structure,
there are at most three equilibrium
equations for each part, so that if there is a
total of n parts and r reactions, we have
ate indetermin statically , 3
e determinat statically , 3
>
=
n r
n r
(4)
24
ENES 220 Assakkaf
Statically Indeterminate
Structures
Determinacy of Trusses
For a coplanar (two-dimensional) truss,
there are at most two equilibrium equations
for each joint j, so that if there is a total of b
members and r reactions, we have
ate indetermin statically , 2
e determinat statically , 2
> +
= +
j r b
j r b
(5)
ENES 220 Assakkaf
Statically Indeterminate Axially
Loaded Members
Example 4 (contd)
End plate
P
Tube (A
2
, E
2
)
Rod (A
2
, E
2
)
L
25
ENES 220 Assakkaf
Statically Indeterminate Axially
Loaded Members
Example 4 (contd)
P
P
P
F
T
/2
F
T
/2
F
R
Tube (A
2
, E
2
)
Rod (A
1
, E
1
)
P F F
F
F F
P F
T R
R
T T
x
= +
= = +

0
2 2
; 0
FBD:
ENES 220 Assakkaf
Torsional Loading
Introduction
Cylindrical members
Fig. 1
26
ENES 220 Assakkaf
Stresses in Circular Shaft due to
Torsion
dF =
dA
T T
B C
Fig. 7
Torsional Loading
ENES 220 Assakkaf
Shearing Strain

L
Fig. 8
c
Torsional Shearing Strain

27
ENES 220 Assakkaf
Shearing Strain
For radius , the shearing strain for circular
shaft is
For radius c, the shearing strain for circular
shaft is
L
=
L
c
c

=
(6)
(7)
ENES 220 Assakkaf
Polar Moment of Inertia
The integral of equation 12 is called the
polar moment of inertia (polar second
moment of area).
It is given the symbol J. For a solid circular
shaft, the polar moment of inertia is given
by
( )
2
d 2 d
4
0
2 2
c
A J
c
= = =

(13)
28
ENES 220 Assakkaf
The integral of equation 12 is called the
polar moment of inertia (polar second
moment of area).
It is given the symbol J. For a solid circular
shaft, the polar moment of inertia is given
by
( )
2
d 2 d
4
0
2 2
c
A J
c
= = =

(13)
ENES 220 Assakkaf
Shearing Stress in Terms of Torque and
J
T
J
Tc
=
=
max
(17a)
(18a)
= shearing stress, T = applied torque
= radius, and J = polar moment on inertia
29
ENES 220 Assakkaf
Torsional Displacements
Angle of Twist in the Elastic Range
The angle of twist for a circular uniform
shaft subjected to external torque T is
given by
GJ
TL
=
(22)
ENES 220 Assakkaf
Multiple Torques/Sizes
E
1
E
2
E
3
L
1
L
2
L
3

= =
= =
n
i
i i
i i
n
i
i
J G
L T
1 1

Circular Shafts
Fig. 12
30
ENES 220 Assakkaf
The angle of twist of various parts of a
shaft of uniform member can be given by

= =
= =
n
i
i i
i i
n
i
i
J G
L T
1 1

(24)
ENES 220 Assakkaf
If the properties (T, G, or J) of the shaft are
functions of the length of the shaft, then
=
L
dx
GJ
T
0
(25)
31
ENES 220 Assakkaf
Stresses in Oblique Planes
Other Stresses Induced By Torsion
x
y
A
Fig. 16
x
y
xy
xy
yx
yx
(a)
(b)
x
y
t
n
dA
n t
dA
yx
dA sin
x

y

d
A
c
o
s
(c)
ENES 220 Assakkaf
y
t
n
dA
n t
dA
yx
dA sin
x

y

d
A
c
o
s
( ) ( )
( )

2 cos sin cos
which From
0 sin sin cos cos
0
2 2
xy xy nt
yx xy nt
t
dA dA dA
F
= =
= +
= +

Fig. 16c
(29)
32
ENES 220 Assakkaf
y
t
n
dA
n t
dA
yx
dA sin
x

y

d
A
c
o
s
( ) ( )

2 sin cos sin 2
which From
0 cos sin sin cos
0
xy xy n
yx xy n
t
dA dA dA
F
= =
=
= +

Fig. 16c
(31)
ENES 220 Assakkaf
Maximum Normal Stress due to Torsion
on Circular Shaft
The maximum compressive normal stress
max
can be computed from
J
c T
max
max max
= =
(32)
33
ENES 220 Assakkaf
Power Transmission
Power Transmission by Torsional Shaft
But = 2 f, where f = frequency. The unit
of frequency is 1/s and is called hertz (Hz).
If this is the case, then the power is given
by
f
T
fT
2
Power
or
2 Power
=
=
(37)
ENES 220 Assakkaf
Power Transmission
Units of Power
hp (33,000 ftlb/min) watt (1 Nm/s)
US Customary SI
34
ENES 220 Assakkaf
Power Transmission
Some useful relations
lb/s in 6600 lb/s ft 550 hp 1
Hz
60
1
60
1
rpm 1
1
= =
= =

s
rpm = revolution per minute
ENES 220 Assakkaf
Summary
Axially Loaded Versus Torsionally
Loaded Members
Deformation
Stress
Torsion Axial
EA
PL
=
J
T
=
GJ
TL
=
A
P
=
35
ENES 220 Assakkaf
Summary
Strain
Two general types of strain:
Axial (normal) Strain
Shearing Strain
=
xy
s
Normal Strain Shearing Strain
L

Review For Exam #1: Equations of Equilibrium

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Torsional Shearing Strain

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