STATICS
FORCE CENTROIDS OF MASSES, AREAS, LENGTHS,
A force is a vector quantity. It is defined when its (1) AND VOLUMES
magnitude, (2) point of application, and (3) direction are Formulas for centroids, moments of inertia, and first
known. moment of areas are presented in the MATHEMATICS
section for continuous functions. The following discrete
RESULTANT (TWO DIMENSIONS) formulas are for defined regular masses, areas, lengths, and
The resultant, F, of n forces with components Fx,i and Fy,i volumes:
has the magnitude of
rc = Σ mnrn/Σ mn, where
1
⎡⎛ n 2
⎞ ⎛n ⎞
2⎤ 2
mn = the mass of each particle making up the system,
F = ⎢⎜ ∑ Fx ,i ⎟ + ⎜ ∑ Fy ,i ⎟ ⎥
⎣⎢⎝ i =1 ⎠ ⎝ i =1 ⎠ ⎦⎥ rn = the radius vector to each particle from a selected
reference point, and
The resultant direction with respect to the x-axis using four-
quadrant angle functions is rc = the radius vector to the center of the total mass
from the selected reference point.
⎛n n ⎞
θ = arctan⎜ ∑ Fy ,i ∑ Fx ,i ⎟ The moment of area (Ma) is defined as
⎝ i =1 i =1 ⎠
May = Σ xnan
The vector form of a force is
Max = Σ ynan
F = Fx i + Fy j
Maz = Σ znan
RESOLUTION OF A FORCE The centroid of area is defined as
Fx = F cos θx; Fy = F cos θy; Fz = F cos θz
xac = May /A
cos θx = Fx /F; cos θy = Fy /F; cos θz = Fz /F yac = Max /A
with respect to center of
Separating a force into components (geometry of force is the coordinate system
zac = Maz /A
known R = x 2 + y 2 + z 2 ) where A = Σ an
Fx = (x/R)F; Fy = (y/R)F; Fz = (z/R)F The centroid of a line is defined as
MOMENTS (COUPLES) xlc = (Σ xnln)/L, where L = Σ ln
A system of two forces that are equal in magnitude, opposite ylc = (Σ ynln)/L
in direction, and parallel to each other is called a couple. zlc = (Σ znln)/L
A moment M is defined as the cross product of the radius The centroid of volume is defined as
vector r and the force F from a point to the line of action of
the force. xvc = (Σ xnvn)/V, where V = Σ vn
M = r × F; Mx = yFz – zFy, yvc = (Σ ynvn)/V
My = zFx – xFz, and zvc = (Σ znvn)/V
Mz = xFy – yFx. MOMENT OF INERTIA
SYSTEMS OF FORCES The moment of inertia, or the second moment of
F = Σ Fn area, is defined as
M = Σ (rn × Fn) Iy = ∫ x2 dA
Equilibrium Requirements Ix = ∫ y2 dA
Σ Fn = 0 The polar moment of inertia J of an area about a point is
Σ Mn = 0 equal to the sum of the moments of inertia of the area about
any two perpendicular axes in the area and passing through
the same point.
Iz = J = Iy + Ix = ∫ (x2 + y2) dA
= rp2A, where
rp = the radius of gyration (see page 25).
24
STATICS (continued)
Moment of Inertia Transfer Theorem BELT FRICTION
The moment of inertia of an area about any axis is defined F1 = F2 eµθ, where
as the moment of inertia of the area about a parallel
F1 = force being applied in the direction of impending
centroidal axis plus a term equal to the area multiplied by
motion,
the square of the perpendicular distance d from the
centroidal axis to the axis in question. F2 = force applied to resist impending motion,
I x′ = I xc + d x2 A µ = coefficient of static friction, and
θ = the total angle of contact between the surfaces
I ′y = I yc + d y2 A , where expressed in radians.
d x, d y = distance between the two axes in question,
STATICALLY DETERMINATE TRUSS
Ix c , Iy c = the moment of inertia about the centroidal axis, and
Plane Truss
Ix′, Iy′ = the moment of inertia about the new axis. A plane truss is a rigid framework satisfying the following
Radius of Gyration conditions:
The radius of gyration rp, rx, ry is the distance from a 1. The members of the truss lie in the same plane.
reference axis at which all of the area can be considered to 2. The members are connected at their ends by frictionless
be concentrated to produce the moment of inertia. pins.
rx = I x A ; ry = I y A ; rp = J A 3. All of the external loads lie in the plane of the truss and
are applied at the joints only.
Product of Inertia 4. The truss reactions and member forces can be
The product of inertia (Ixy, etc.) is defined as: determined using the equations of equilibrium.
Ixy = ∫ xydA, with respect to the xy-coordinate system, Σ F = 0; Σ M = 0
Ixz = ∫ xzdA, with respect to the xz-coordinate system, and 5. A truss is statically indeterminate if the reactions and
Iyz = ∫ yzdA, with respect to the yz-coordinate system. member forces cannot be solved with the equations of
equilibrium.
The transfer theorem also applies:
Plane Truss: Method of Joints
I ′xy = I xc yc + d x d y A for the xy-coordinate system, etc.
The method consists of solving for the forces in the
where members by writing the two equilibrium equations for each
joint of the truss.
dx = x-axis distance between the two axes in question, and
dy = y-axis distance between the two axes in question. Σ FV = 0 and Σ FH = 0, where
FH = horizontal forces and member components and
FRICTION
FV = vertical forces and member components.
The largest frictional force is called the limiting friction.
Any further increase in applied forces will cause motion. Plane Truss: Method of Sections
The method consists of drawing a free-body diagram of a
F ≤ µ N, where
portion of the truss in such a way that the unknown truss
F = friction force, member force is exposed as an external force.
µ = coefficient of static friction, and
CONCURRENT FORCES
N = normal force between surfaces in contact.
A concurrent-force system is one in which the lines of
SCREW THREAD (also see MECHANICAL action of the applied forces all meet at one point. A two-
ENGINEERING section) force body in static equilibrium has two applied forces
For a screw-jack, square thread, that are equal in magnitude, opposite in direction, and
M = Pr tan (α ± φ), where collinear. A three-force body in static equilibrium has
three applied forces whose lines of action meet at a point.
+ is for screw tightening, As a consequence, if the direction and magnitude of two
– is for screw loosening, of the three forces are known, the direction and
M = external moment applied to axis of screw, magnitude of the third can be determined.
P = load on jack applied along and on the line of the axis,
r = the mean thread radius,
α = the pitch angle of the thread, and
µ = tan φ = the appropriate coefficient of friction.
25
Figure Area & Centroid Area Moment of Inertia (Radius of Gyration)2 Product of Inertia
y I x c = bh 3 /36 rx2c = h 2 18
A = bh/2
I yc = b 3h/36 ry2c = b 2 18 I xc yc = Abh 36 = b 2 h 2 72
C h xc = 2b/3
rx2 = h 2 6 I xy = Abh 4 = b 2 h 2 8
yc = h/3 Ix = bh3/12
ry2 = b 2 2
b x Iy = b3h/4
y I x c = bh 3 /36 rx2c = h 2 18
A = bh/2
h I yc = b 3h/36 ry2c = b 2 18 I xc yc = − Abh 36 = − b 2 h 2 72
C xc = b/3
rx2 = h 2 6 I xy = Abh 12 = b 2 h 2 24
yc = h/3 Ix = bh3/12
x ry2 = b 2 6
b Iy = b3h/12
y I xc = bh 3 36 rx2c = h 2 18 I xc yc = [Ah(2a − b )] 36
C h
A = bh/2
xc = (a + b)/3
[ ( 2
I yc = bh b − ab + a 2
)] 36 ry2c ( 2
= b − ab + a 2
) 18 [ ]
= bh 2 (2a − b ) 72
I x = bh 12 3
rx2 =h 6 2 I xy = [Ah(2a + b )] 12
a
b
x yc = h/3
[ (
I y = bh b 2 + ab + a 2 12 )] ry2 (
= b 2 + ab + a 2 6 ) [ ]
= bh 2 (2a + b ) 24
I xc yc = 0
26
y I xc = b h 3 12 rx2c = h 2 12
I xy = Abh 4 = b 2 h 2 4
C A = bh I yc = b 3 h 12 ry2c = b 2 12
h
xc = b/2 I x = bh 3 3 rx2 = h 2 3
yc = h/2 I y = b3h 3 ry2 = b 2 3
b x [ (
J = bh b 2 + h 2 12 )] (
rp2 = b 2 + h 2 12 )
y a
A = h(a + b ) 2 I xc =
(
h 3 a 2 + 4ab + b 2 ) rx2c =
(
h 2 a 2 + 4ab + b 2 )
C h(2a + b ) 36(a + b ) 18(a + b )
h yc =
3(a + b ) h (3a + b )
3
h (3a + b )
2
Ix = rx2 =
12 6(a + b )
b x
y
( )
I xc = a 3b sin 3θ 12 rx2c = (a sinθ)2 12
A = ab sin θ I yc = [ab sinθ(b + a cos θ)] 12
2 2 2
(
ry2c = b 2 + a 2 cos 2 θ 12 )
C = (a b sin θ) 3
3 3
= (a sinθ) 3 ( )
I xc yc = a 3b sin 2 θ cos θ 12
STATICS (continued)
a xc = (b + a cos θ)/2 Ix rx2 2
yc = (a sin θ)/2 [
I y = ab sinθ(b + a cosθ) 2
]3 ry2 = (b + a cosθ) 3 2
b x ( 2 2
− a b sinθcosθ 6 ) − (ab cosθ) 6
Housner, George W. & Donald E. Hudson, Applied Mechanics Dynamics, D. Van Nostrand Company, Inc., Princeton, NJ, 1959. Table reprinted by permission of G.W. Housner & D.E. Hudson.
Figure Area & Centroid Area Moment of Inertia (Radius of Gyration)2 Product of Inertia
y I xc = I yc = πa 4 4 rx2c = ry2c = a 2 4
A = πa2 I xc y c = 0
a
C xc = a I x = I y = 5πa 4 4 rx2 = ry2 = 5a 2 4
I xy = Aa 2
yc = a J = πa 2 4
rp2 =a 2 2
y
A = π (a2 – b2)
(
I xc = I y c = π a 4 − b 4 4 ) (
rx2c = ry2c = a 2 + b 2 4 ) I xc yc = 0
(5a +b ) 4
4 4
a 5πa πb rx2 = ry2 = 2 2
I xy = Aa 2
C xc = a Ix = Iy = − πa 2b 2 −
b yc = a
(
4
J = π a4 − b4 2 )
4
rp2 (
= a + b2 2
2
) (
= πa 2 a 2 − b 2 )
x
(
a 4 9π 2 − 64 ) rx2c =
(
a 2 9π 2 − 64 ) I xc yc = 0
I xc = 36π 2 I xy = 2a 2 3
y A = πa2/2 72π
= πa 4 8 ry2c = a 2 4
27
C xc = a I yc
yc = 4a/(3π) I x = πa 4 8 rx2 = a 2 4
2a x
I y = 5πa 4 8 ry2 = 5a 2 4
y
a A = a 2θ a 2 (θ − sin θ cosθ)
C 4
Ix = a (θ – sinθ cos θ)/4 rx2 = I xc y c = 0
2a sinθ 4 θ
x xc =
3 θ 4
Iy = a (θ + sinθ cos θ)/4
ry2 =
a 2
(θ + sin θ cosθ) I xy = 0
yc = 0 4 θ
y ⎛ sin 2θ ⎞
A = a2 ⎜θ − ⎟ Aa 2 ⎡ 2sin 3 θ cos θ ⎤ a2 ⎡ 2sin 3θ cosθ ⎤
a 2 ⎠ Ix = ⎢1 − ⎥ rx2 = ⎢1 − ⎥
⎝ 4 ⎣ 3θ − 3sin θ cos θ ⎦ 4 ⎣ 3θ − 3sinθ cosθ ⎦
2a sin 3θ
STATICS (continued)
x xc = Aa 2 ⎡ 2sin 3 θ cos θ ⎤ a2 ⎡ 2sin 3θ cosθ ⎤
C 3 θ − sinθcosθ Iy = ⎢1 + ⎥ ry2 = ⎢1 + ⎥ I xc y c = 0
yc = 0 4 ⎣ θ − sin θ cos θ ⎦ 4 ⎣ θ − sinθ cosθ ⎦
I xy = 0
Housner, George W. & Donald E. Hudson, Applied Mechanics Dynamics, D. Van Nostrand Company, Inc., Princeton, NJ, 1959. Table reprinted by permission of G.W. Housner & D.E. Hudson.
Figure Area & Centroid Area Moment of Inertia (Radius of Gyration)2 Product of Inertia
y
A = 4ab/3 I xc = I x = 4ab 3 15 rx2c = rx2 = b 2 5
b I xc y c = 0
C xc = 3a/5 I yc = 16a 3b 175 ry2c = 12a 2 175
x I xy = 0
a b yc = 0 I y = 4 a 3b 7 ry2 = 3a 2 7
y
A = 2ab/3
C b Ix = 2ab3/15 rx2 = b 2 5
xc = 3a/5 Ixy = Aab/4 = a2b2
x Iy = 2ba3/7 ry2 = 3a 2 7
a yc = 3b/8
y
y = (h/bn)xn A = bh (n + 1)
bh 3 h 2 (n + 1)
n +1 Ix = rx2 =
h xc = b 3(3n + 1) 3(3n + 1)
28
C n+2
h n +1 hb 3 2 n +1 2
b x yc = Iy = ry = b
2 2n + 1 n+3 n+3
y y = (h/b1/n)x1/n n
A= bh
n +1 n n +1 2
Ix = bh 3 rx2 = h
C h xc =
n +1
b 3(n + 3) 3(n + 1)
2n + 1 n n +1 2
n +1 Iy = b3h ry2 = b
x yc = h 3n + 1 3n + 1
b 2(n + 2 )
Housner, George W. & Donald E. Hudson, Applied Mechanics Dynamics, D. Van Nostrand Company, Inc., Princeton, NJ, 1959. Table reprinted by permission of G.W. Housner & D.E. Hudson.
STATICS (continued)
