ENGINEERING PHYSICS

PHY153X
Dr Ignatius John
[email protected] Room 0.32, O ld Science Buld.
Term 2 Slides
 WEEK 7 & 8

FORCE SYSTEM RESULTANTS

Statics, Chapter 4 (supported by Chapter 2)

WEEK 7
 OUTLINE

• Dot product (2.9)

• Moment of a force 2D (4.1)
• Cross product (4.2)
DOT PRODUCT
 APPLICATION

For the force F applied to the

wrench at Point A, what
component of it actually helps
turn the bolt (i.e., the force
component acting
perpendicular to arm AB of
the pipe)?
 DOT PRODUCT

The angle θ between vectors A and B is always in a range of

0º to 180º .

CHARACTERISTICS:
• The result of the dot product is a scalar (a positive or
negative value).
• The units of the dot product will be the product of the
units of the A and B vectors.
 By definition i • j = 0
i • i = 1 (vector dotted into itself)
DOT A • B = (Ax i + Ay j + Az k ) • (Bx i + By j + Bz k )
PRO DUCT = Ax Bx + Ay By + Az Bz
 DOT PRODUCT – ANGLE
BETWEEN VECTO RS

For these 2 vectors in Cartesian form, one can find the angle
by:
a) Find the dot product A • B = (AxBx + AyBy + AzBz ),
b) Find the magnitudes (A & B) of the vectors A and B , and
c) Use the definition of dot product and solve for θ.
 DOT PRODUCT – Laws

. .
A B = (Axi + A y j + Azk) (Bxi + By j + Bzk)

i•j=0
i•i=1
 You can determine the components of a vector parallel (||) and
perpendicular (⊥) to a line using the dot product.

STEPS
1. Find the unit vector ua along line aa.
2. Find the scalar projection / magnitude of A along line aa (||
DOT PRODUCT – component) by:
VECTO R A|| = AcosΘ (Prior to dot product)
PRO JECTIO N A|| = A • ua = Ax ux + Ay uy + Az uz (With dot product)

Projection of A
 STEPS (continued)
3. Using the unit vector ua & magnitude, the vector of the || component is:
A || = A|| ua
4. The scalar and vector forms of the ⊥ component can easily be obtained
by:
A ⊥ = (A 2 - A|| 2) ½ (Pythagoras Theorem)
DOT PRODUCT – A =A ⊥ + A ||
VECTO R ∴A ⊥ = A – A || (Rearranging the vector sum of A = A ⊥ + A || )
PRO JECTIO N
 PROOFING THE DOT PRODUCT

Given the 3 3D vectors A, B, and D, show that: A . (B + D) = (A . B) + (A. D)…

By definition i • j = 0
i • i = 1 (vector dotted into itself)
A • B = (Ax i + Ay j + Az k ) • (Bx i + By j + Bz k )
= Ax Bx + Ay By + Az Bz
 POSITION VECTOR

Study carefully x, y, x Coordinates of points A and B

Ax = +4 m along the x axis

Ay = +2 m along the y axis
Az = -6 m along the z axis

⸫ A (+4 m, +2 m, -6 m)

⸫ B (+6 m, -1 m, +4 m)
 POSITION VECTOR

Position vector r

A position vector 𝒓𝒓 is defined as a fixed vector

which locates a point in space relative to
another point. For example, if 𝒓𝒓 extends from
the origin of coordinates, O, to point P(x, y, z),
then 𝒓𝒓 can be expressed in Cartesian vector
form as zk

𝒓𝒓 = xi + yj + zk
yj
 PO SITIO N VECTO R

• A position vector is defined as a fixed vector that locates a point in space

relative to another point.
• Consider 2 points, A and B, in 3-D space.
Let their coordinates be (XA, YA, Z A) and (XB, YB, Z B), respectively.
Note: (B – A)

Az
 PO SITIO N VECTO R

The head-to-tail vector addition, using the

triangle rule, we require
rA + r = rB
Solving for r and expressing r A and r B in
Cartesian vector form yields
Az

r = r B - r A = (xBi + yB j + zBk) - (xAi + yA j + zAk)

or
r = (xB - xA)i + (yB - yA)j + (zB - zA)k
PO SITIO N VECTO R

(xBi + yB j + zBk)

Az
(xAi + yA j + zAk)
 Dot products
Angle formed between two vectors

� �𝑩𝑩
𝑨𝑨 �
• 𝜃𝜃 = cos −1
𝐴𝐴𝐴𝐴

• � = 𝐴𝐴𝑥𝑥 𝑖𝑖 + 𝐴𝐴𝑦𝑦 𝑗𝑗 + 𝐴𝐴𝑧𝑧 𝑘𝑘

𝑨𝑨
O
• � = 𝐵𝐵𝑥𝑥 𝑖𝑖 + 𝐵𝐵𝑦𝑦 𝑗𝑗 + 𝐵𝐵𝑧𝑧 𝑘𝑘
𝑩𝑩

• 𝐴𝐴 = 𝐴𝐴2𝑥𝑥 + 𝐴𝐴2𝑦𝑦 + 𝐴𝐴2𝑧𝑧

Az

• 𝐵𝐵 = 𝐵𝐵𝑥𝑥2 + 𝐵𝐵𝑦𝑦2 + 𝐵𝐵𝑧𝑧2

 SAMPLE
PROBLEM 1
GIVEN: The force F acting on the hook at point A.
A(1i – 2j + 2k)
FIND: The angle Θ between the force vector F and the line AO ,
and the magnitude of the projection of the force along the line
AO (i.e.: the || component).

PLAN:
O(0i + 0j + 0k)
Step 1. Find the position vector of line AO (r AO).
Step 2. Find theangle θ= cos-1{(F • r AO)/(F x r AO )}
Remember
Step 3. Find the projection via FAO = F • uAO (or F cos θ ) A(1i – 2j + 2k)
O(0i + 0j + 0k)
rAO = (O-A) = (-1i + 2j – 2k) m
 SOLUTION: r = (xB - xA)i + (yB - yA)j + (zB - zA)k

SAMPLE
PROBLEM 1 r AO = {−1 i + 2 j − 2k } m (direction) …..(1)
r AO = {(-1)2 + 22 + (-2)2}1/2 = 3 m (magnitude)

F = {− 6 i + 9 j + 3 k } kN …………(2)
F = {(-6)2 + 92 + 32}1/2 = 11.22 kN
F • r AO = (− 6)(−1) + (9)(2) + (3)(−2) = 18 kN⋅m …..(3)

θ = cos-1 { (F • r AO ) / (F r AO ) }
θ = cos-1 { (F • r AO ) / (F r AO) }
θ= cos-1 {18 / (11.22 × 3)} = 57.67°
FAO = F cos θ = 11.22 cos (57.67°) = 6.00 kN
OR
uAO = r AO / r AO = (−1/3) i + (2/3) j + (−2/3) k
FAO = F • uAO = (− 6)(−1/3) + (9)(2/3) + (3)(−2/3) = 6.00
kN
 SAMPLE
PROBLEM 1 The pipe in Fig. a is subjected to the force of F = 80 lb.
Determine the angle θ between F and the pipe segment BA and the projection of F along this segment.
First we have to find the coordinates of each points, then the position vectors, both direction and magnitude

A (0, 1, 0)
B (2, 3, -1)
𝒓𝒓� BA= 𝑟𝑟̅ (A-B)= (0-2)I + (1-3)j + (0-(-1)k) = {-2i – 2j + 1k} m
Magnitude: rBA = (−2)2 +(−2)2 +12 = 𝟑𝟑 𝒎𝒎
C (2, 0, 0)
B (2, 3, -1)
𝒓𝒓� BC= 𝑟𝑟̅ (C-B)= (2-2)I + (0-3)j + (0-(-1)) = {0i – 3j + 1k} m
� � 𝑩𝑩
𝑨𝑨 �
−1
rBC = (−3)2 +12 = 10 𝑚𝑚 𝜃𝜃 = cos
𝐴𝐴𝐴𝐴
� �𝑩𝑩
𝑨𝑨 � −𝟐𝟐𝟐𝟐−𝟐𝟐𝟐𝟐+𝟏𝟏𝟏𝟏 (𝟎𝟎𝟎𝟎−𝟑𝟑𝟑𝟑+𝟏𝟏𝟏𝟏) 6+1 � = 𝐴𝐴𝑥𝑥 𝑖𝑖 + 𝐴𝐴𝑦𝑦 𝑗𝑗 + 𝐴𝐴𝑧𝑧 𝑘𝑘
𝜃𝜃 = cos−1 = 𝜃𝜃 = cos−1 = cos −1 ( ) = cos−1 ( 0.73780) = 42.450 𝑨𝑨
𝐴𝐴𝐴𝐴 3 × 10 3√10
� = 𝐵𝐵𝑥𝑥 𝑖𝑖 + 𝐵𝐵𝑦𝑦 𝑗𝑗 + 𝐵𝐵𝑧𝑧 𝑘𝑘
𝑩𝑩

𝐴𝐴 = 𝐴𝐴2𝑥𝑥 + 𝐴𝐴2𝑦𝑦 + 𝐴𝐴𝑧𝑧2

𝐵𝐵 = 𝐵𝐵𝑥𝑥2 + 𝐵𝐵𝑦𝑦2 + 𝐵𝐵𝑧𝑧2

PAUSE SLIDE
MOMENT OF A FORCE
 APPLICATION

Carpenters often use a hammer in this way to

pull a stubborn nail. Through what sort of
action does the force FH at the handle pull the
nail? How can you mathematically model the
effect of force FH at point O?
 MOMENT OF A FORCE

When a force is applied to a body it will produce a tendency

for the body to rotate about a point that is not on the line of
action of the force.
This tendency to rotate is sometimes called a torque, but
most often it is called the moment of a force or simply the
moment.
 MOMENT OF A
FO RCE

SCALAR FORMULATION
The magnitude of the moment
of the force (M O ) is the
product of the force applied
(F) and the moment arm (or
perpendicular distance
from the axis of rotation) (d) .
 MOMENT OF A FORCE

SCALAR FORMULATION
• In 2D, the direction of M O is either clockwise (CW) or
counter-clockwise (CCW), depending on the tendency for
rotation.
• The typical sign convention for a moment in 2D is that
CCW is considered positive.
 RESULTANT MOMENT

• For 2D problems, where all the forces lie

within the x–y plane, the resultant moment
(M R) O about point O (the z axis) is the
algebraic sum of the moments caused by
all the forces in the system.
• If the numerical result of this sum is a
positive scalar, the moment will be CCW
(out of the page); and if the result is
negative, the moment will be CW (into
the page).
 COMPUTATION

a F
b For example, M O = F d┴ and the direction is CCW.

O
Fy F
d
Fx
Often it is easier to determine MO by using b a
the components of F as shown. O
Then: MO = (Fy a) + (– Fx b)
Note the different signs on the terms!
 SAMPLE
PROBLEM 2

GIVEN: A 100 N force is applied to the frame.

FIND: The moment of the force at point O.

PLAN:
1) Resolve the 100 N force along x and y-axes.
2) Determine MO using a scalar analysis for the 2 force components and then add those 2
moments together.
 SAMPLE
PROBLEM 2

SOLUTION:
+ ↓ Fy = – 100 (3/5) N
+ → Fx = −100 (4/5) N
+ MO = {– 100 (3/5)N (5 m) – (100)(4/5)N (2 m)} Nm
= – 460 Nm or 460 Nm CW

MO = (Fy dx) + (Fx dy)

PAUSE SLIDE
CROSS PRODUCT
 CROSS PRODUCT

• The cross product of 2 vectors A and B results in another

vector C .
C=A ×B
(and is read “C equals A cross B”)
• The magnitudeand direction of the resulting vector can be
written as:
C = (A B sin θ )uC

where: magnitude
uC is the unit vector perpendicular to both A and B
vectors (or to the plane containing the A and B).
 CROSS PRODUCT

The right-hand rule is a useful tool for

determining the direction of the vector resulting
from a cross product.
For example: i × j = k
Note that a vector crossed into itselfis zero,
e.g.:i × i = 0

Also note that with the dot product, a vector dotted

into itself was one, e.g.: i • i = 1.
 CARTESIAN VECTOR FORMULATION

To find i × j …
The magnitudeof the resultant vector is:i)(j)(sin
( 90) = (1)(1)(1) = 1,
and itsdirection is determined using the right
-hand rule which shows that the
resultant vector points in the +k direction.
Thus,i × j = (1)k.
In a similar manner:
 CARTESIAN VECTOR FORMULATION

A = AX i + AY j + AZ k and B = BX i + BY j + BZ k , then
To find A × B…
 CROSS PRODUCT

• The cross product can also be written in a more

compact determinant form.
• Each component can be determined using 2 × 2
determinants.
 SELF STUDY

YOUTUBE VIDEOS
DOT VS. CROSS PRODUCT
https://www.khanacademy.org/science/physics/magnetic-forces-and-magnetic-fields/electric-
motors/v/dot-vs-cross-product
RIGHT HAND RULE FOR CROSS PRODUCT DIRECTION
https://www.youtube.com/watch?v=Nsob8mGFT84
SEE BLACKBOARD
• Exercises
ENGINEERING PHYSICS
PHY153X
Dr Ignatius JO HN
[email protected] O ld Science Buld. Room 0.032
Term 2 Slides
WEEK 8
 OUTLINE

• Vector formulation (4.3)

• Principle of moments (4.4)
• Moment about an axis (4.5)
• Moment of a couple (4.6)
 MOMENT OF A FORCE

VECTOR FORMUALTION
Using the vector cross product:
M O = r × F.
Here r is the position vectorfrom point O to
any point on the line of action ofF.
SCALAR FORMULATION
The magnitudeof the moment
of the force (M O ) is the The magnitudeof the cross product is defined as:
product of the force applied
(F) and the moment arm (or
perpendicular distance
from the axis of rotation) (d) .
 CROSS PRODUCT

• The cross product can also be written in a more

compact determinant form.
• Each component can be determined using 2 × 2
determinants.
 MOMENT OF A FORCE

VECTOR FORMUALTION
• So, using the cross product, a moment can be expressed as:

• By expanding the above equation using 2 × 2 determinants, we

get:
 PRINCIPLE OF MOMENTS

• The moment of a force about a point is equal to the sum of

the moments of the components of the force about the
point.

• When an object is in equilibrium, the sum of CW moments

about any point is equal to the sum of CCW moments
about that same point.
 Moments

Determine the moment of the force about point O

 Moments

Vector Analysis:
• Using a Cartesian vector approach, the force and position vectors:
• Force: F = {400 sin 30° i - 400 cos 30° j} N
• = {200.0i - 346.4j} N
• Position vector: r = {0.4i - 0.2j} m
• The moment is therefore:

• = 0i - 0j + [0.4(- 346.4) - (- 0.2)(200.0)]k

• = {- 98.6k} N m
• NOTE: It is seen that the scalar analysis (Solution I) provides a more convenient methodfor
analysis than Solution II since the direction of the moment and the moment arm for each
component force are easy to establish. Hence, this method is generally recommended for
solving problems displayed in two dimensions, whereas a Cartesian vector analysis is generally
recommended only for solving three -dimensionalproblems.
 Moments

Position vectors r (P) = r (F-P) = (2, 0, 0) – (0, 3, 0) = r (2, -3, 0)

r(F-P) = (1, -2, 2) – (-4, 2, 3) = (5, -4, -1)

 Moments
A 20-N horizontal force is applied perpendicular to the handle of the
socket wrench. Determine the magnitude and the coordinate direction
angles of the moment created by this force about point O.
Position vectors r(OA) = r(A-O)
= (0.2 sin 15 i + 0.2 cos 15 j + 0.75) m = (0.052 i +0.19 j +0.75 k)
F = -20 cos 15 i + 20 sin 15 j + 0 k) N

20N

r
 SAMPLE
PROBLEM 1

GIVEN: F1= {100 i - 120 j + 75 k } kN

F2 = {-200 i +250 j + 100 k } kN
FIND: Resultant moment by the forces about point O .
PLAN:
Step 1. Find F = F1 + F2 and r OA
Step 2. Determine M O = r OA x F
 SAMPLE
PROBLEM 1 SOLUTION: F1= {100 i - 120 j + 75 k } kN
First, find the resultant force vector F F2 = {-200 i +250 j + 100 k } kN
F = F1 + F2

= { (100 - 200) i + (-120 + 250) j + (75 + 100) k } kN

= {-100 i +130 j + 175 k } kN

Find the position vector r OA

r OA = {4 i + 5 j + 3 k } m
A (4, 5, 3)
M O = r OA x F O (0, 0, 0)
Then find the moment by using the vector cross product.
i j k
MO = = [ {5(175) - 3(130)} i - {4(175) - 3(-100)} j + {4(130) – 5(-100)} k ] kN . m
4 5 3
-100 130 175
= {485 i – 1000 j + 1020 k } kN· m
PAUSE SLIDE
 MOMENT OF ACO UPLE

A couple is defined as 2 parallel forces with

the same magnitude but opposite in direction
separated by a perpendicular distance “d.”
The moment of a couple is defined as:
MO = F d ┴ (scalar analysis)
M O = r × F (vector analysis)
Here r is any position vector from the line of
action of F to the line of action of F.
 MOMENT OF ACO UPLE

• The net external effect of a couple is that the net force equals
zero and the magnitude of the net moment equals F * d.
• Since the moment of a couple depends only on the distance
between the forces, the moment of a couple is a free vector.
It can be moved anywhere on the body and have the same
external effect on the body.
• Moments due to couples can be added together using the
same rules as adding any vectors.
 SAMPLE
PROBLEM 1

GIVEN: Two couples act on the beam with the geometry shown.
FIND: The magnitude of F so that the resultant couple moment is 1.5 kN⋅m clockwise.
PLAN:
Step 1. Add the two couples to find the resultant couple.
Step 2. Equate the net moment to 1.5 kN⋅m clockwise to find F.
 SAMPLE GIVEN: Two couples act on the beam with
PROBLEM 1
the geometry shown.
FIND: The magnitude of F so that the
resultant couple moment about A is 1.5 kN⋅m
clockwise.

Scalar SO LUTIO N: MA = ┴r distance x Force

ΣMA = 0 x F kN + 0 x 2 kN + 0.9 x –G + 0.3 x 3 kN
F 0xF
2 kN  0x2
The net moment is equal to: 3 kN  0.3 x 3
G -G x 0.9
+ Σ M = – G (0.9) + (3) (0.3)
= – 0.9 G + 0.9
– 1.5 kN⋅m = – 0.9 G + 0.9

Solving for the unknown force F, we get:

G = 2.66 kN
 SAMPLE
PROBLEM 2

r AB

FB
GIVEN: A 450 N force couple acting on the pipe assembly.
FIND: The couple moment in Cartesian vector notation.
PLAN:
Step 1. Use M = r × F to find the couple moment.
Step 2. Set r = r AB and F = FB
Step 3. Calculate the cross product to find M .
 Step 1. UseM = r × F to find the couple moment.

Step 2. Setr = r AB and F = FB Remember

Remembercoordinates of B – Ain
vector components
B(0.4,
x, y, z 0, 0.3) and A(0, 0, 0.3)
directions
M.
Step 3. Calculate the cross product to find
SOLUTION (VECTOR):
SAMPLE
PROBLEM 2 r AB = (r B – r A ) = (0.4 i + 0 j + 0.3 k) – (0i + 0j + 0 .3 k)
r AB = { 0.4 i } m r AB
FB = { 0 i + 450(4/5) j − 450(3/5) k } N
= { 0 i + 360 j − 270 k } N FB
M = r AB × FB
i j k
= 0.4 0 0 N· m
0 360 −270

= [ {0(-270) – 0(360)} i – {4(-270) – 0(0)} j + {0.4(360) – 0(0)} k ] N· m

= { 0 i + 108 j + 144 k } N· m
 Moments
Find the coordinates of O, A, B, C
�
𝑼𝑼
F = 120 lb. W e have to convert it to cartesian vector. F = F U BC = 𝐹𝐹 O (0, 0, 0)
𝑢𝑢
C (5, 0, 0)
B (1, 4, 2)
UBC = U(C-B) = (5-1)i, (0-4)j, (0-2)k
rc = r(OC) = (5, 0, 0)
rB = r(OB) = (1, 4, 2)
 SELF STUDY

YOUTUBE VIDEOS
Moment of a Force
https://www.youtube.com/watch?v=Q NNnPZ68STI
Moment about a Specified Axis
https://www.youtube.com/watch?v=rdK0c9YZRYw
Moment of a Couple
https://www.youtube.com/watch?v=uV4Q DXd0ARM
ENGINEERING PHYSICS
PHY153X
Dr Ignatius JO HN
[email protected] O ld Science Build. Room 0.032
Term 2 Slides
 WEEK 10

FRICTION

Statics, Chapter 8
 OUTLINE

• Theory of dry friction

• Dry friction equilibrium
• Impending motion
• Motion
• Coefficients of friction
• Friction and equations of
equilibrium
• Impending tipping vs. slipping
• Friction and inclined planes
 THEORY OF DRY FRICTION

• Friction is a force that resists the movement of two

contacting surfaces that slide relative to one another.
• This force always acts tangent to the surface at the points
of contact and is directed so as to oppose the possible or
existing motion between the surfaces.
• Dry friction occurs between the contacting surfaces of
bodies when there is no lubricating fluid.
 DRY FRICTION EQUILIBRIUM

• Consider the effects caused by pulling horizontally on a

block of uniform weight W which is resting on a rough
horizontal surface.
• The effect of the distributed normal and frictional loadings
is indicated by their resultants N and F.
• N acts a distance x to the right of the line of action ofW .
h from the surface, then the
• If P is applied at a height
moment equilibriumabout pointO is satisfied if:

𝑃𝑃𝑃
𝑥𝑥 =
𝑊𝑊
 IMPENDING MOTION

• In cases where the surface of contact is rather “slippery”, the

frictional force F may not be great enough to balance P and,
consequently, the block will tend to slip.
• As P is slowly increased, F correspondingly increases until it
attains a certain maximum value Fs, called the limiting static
frictional force.
• This limiting static frictional force Fs is directly proportional to the
resultant normal force N .

μs is called the coefficient of static friction.

 IMPENDING
MO TIO N

• When the block is on the

verge of sliding, the normal
force N and the frictional
force Fs combine to create
a resultant Rs.
• The angle φs that R makes
with N is called the angle of
static friction.
 MOTION

• If the magnitude of P acting on the block is increased so

that it becomes slightly greater than Fs, the frictional force
at the contacting surface will drop to a smaller value Fk ,
called the kinetic frictional force.
• The magnitude of the kinetic frictional force is directly
proportional to the magnitude of the resultant normal
force.

μk is called the coefficient of kinetic friction

US / K
 F vs. F
S vs. FK

Frictional force F vs. the applied load P

• F is a static frictional force F if equilibrium is maintained.
• F is a limiting static frictional force Fs when it reaches a
maximum value needed to maintain equilibrium.
• F is a kinetic frictional force Fk when sliding occurs at the
contacting surface.
 PROBLEMS INVOLVING DRY FRICTION

NO APPARENT IMPENDING MOTION

If there is no impending motion, the friction force is less than the maximum friction force:
𝐹𝐹𝑠𝑠 < 𝜇𝜇𝑠𝑠 𝑁𝑁

IMPENDING MOTION
W hen motion is impending at the points of contact, then:
𝐹𝐹𝑠𝑠 = 𝜇𝜇𝑠𝑠 𝑁𝑁

MOTION
W hereas if the body is slipping, then:
𝐹𝐹𝑘𝑘 = 𝜇𝜇𝑘𝑘 𝑁𝑁
 PROBLEMS INVOLVING DRY FRICTION

NO APPARENT IMPENDING
MOTION
If there is no impending motion, the
friction force is less than the
maximum friction force:
𝐹𝐹𝑠𝑠 < 𝜇𝜇𝑠𝑠 𝑁𝑁

IMPENDING MOTION 𝐹𝐹𝑠𝑠 = 𝜇𝜇𝑠𝑠 𝑁𝑁

When motion is impending at the
points of contact, then:
𝐹𝐹𝑠𝑠 = 𝜇𝜇𝑠𝑠 𝑁𝑁

MOTION
Whereas if the body is slipping, then:
𝐹𝐹𝑘𝑘 = 𝜇𝜇𝑘𝑘 𝑁𝑁
 PROBLEMS INVOLVING DRY FRICTION

NO APPARENT IMPENDING
MOTION Determine the friction force

If there is no impending motion, the

friction force is less than the
maximum friction force:
𝐹𝐹𝑠𝑠 < 𝜇𝜇𝑠𝑠 𝑁𝑁

IMPENDING MOTION
When motion is impending at the
points of contact, then:
𝐹𝐹𝑠𝑠 = 𝜇𝜇𝑠𝑠 𝑁𝑁

MOTION
Whereas if the body is slipping, then:
𝐹𝐹𝑘𝑘 = 𝜇𝜇𝑘𝑘 𝑁𝑁
 PROBLEMS INVOLVING DRY FRICTION

NO APPARENT IMPENDING
MOTION
If there is no impending motion, the
friction force is less than the
maximum friction force:
𝐹𝐹𝑠𝑠 < 𝜇𝜇𝑠𝑠 𝑁𝑁

IMPENDING MOTION
When motion is impending at the
points of contact, then:
𝐹𝐹𝑠𝑠 = 𝜇𝜇𝑠𝑠 𝑁𝑁

MOTION
Find:
Whereas if the body is slipping, then:
𝐹𝐹𝑘𝑘 = 𝜇𝜇𝑘𝑘 𝑁𝑁 𝐹𝐹 = 𝜇𝜇𝑠𝑠 𝑁𝑁

𝑁𝑁. 𝑥𝑥 − 𝑃𝑃. 2𝑚𝑚�= 𝐹𝐹0𝑥𝑥

� 𝑀𝑀
 FRICTION & 3 E-O F-E

• Draw the necessary FBD and unless it is stated in the problem that
• (a) impending motion or
• (b) slipping occurs,
• always show the frictional forces as unknown
• (i.e.: do not assume F = μsN).
• Determine the number of unknowns and compare this with the number of
available 3 E-of-E (equations of equilibrium).
• If there are more unknowns than E-of-E, it will be necessary to apply the
frictional equation at some, if not all, points of contact to obtain the extra
equations needed for a complete solution.
• If the equation F = μsN is to be used, it will be necessary to show F acting in
the correct sense of direction on the FBD.

Sum Fx = 0, Sum Fy = 0 and Sum M = 0

 SAMPLE
PROBLEM 1

GIVEN: Automobile has a mass of 2000 kg and μs = 0.3.

FIND: The smallest magnitude of F required to move the car if the back brakes are locked and
the front wheels are free to roll.

PLAN:
a) Draw FBDs of the car.
b) Determine the unknowns.
d) Apply the E-of-E and friction equations to solve for the unknowns.
 SAMPLE
PROBLEM 1
FBD of the car
2000 × 9.81 N

SOLUTION : Draw the FBD FB

Note that the FBD has 4 unknowns: F, N A, N B, and FB. NA NB

Equations of Equilibrium : ∑ F and ∑A Moments

+ → ∑ FX = FB – F (cos 30°) = 0 (1)
+ ↑ ∑ FY = N A + N B + F (sin 30°) – 19620 = 0 (2)

+CCW ∑ MA = F cos30°(0.3) – F sin30°(0.75) + N B (2.5) – 19620(1) + FB x 0 = 0 ……………(3)

FB = µs N B = 0.3 N B ………………… (4)
 FBD of the car
SAMPLE
PROBLEM 1 2000 × 9.81 N

SO LUTIO N: FB
Assume that the rear wheels are on the verge of slip . NB
NA
Thus FB = µs N B = 0.3 N B (4)
Solving Equations (1) to (4):
F = 2762 N
N A =10263 N
N B = 7975 N
FB = 2393 N
 The uniform 10 kg ladder rests against the smooth wall
at B, and the end A rests on the rough horizontal plane
for which the coefficient of static friction is μs = 0.3.
Determine the angle of inclination of the ladder and
the normal reaction at B if the ladder is on the verge of
SAMPLE slipping.
PRO BLEM 2
SOLUTION
Free-Body Diagram. As shown on the free-body diagram, Fig. 8–9b,
the frictional force FA must act to the right since impending motion at A
is to the left.
Equations of Equilibrium and Friction. Since the ladder is on the verge of slipping,
then FA = μsNA = 0.3NA.
By inspection, NA can be obtained directly.
Fy = 0;
NA - 10(9.81) N = 0
NA = 98.1 N
Using this result, FA = 0.3(98.1 N) = 29.43 N.
ΣFy = NA – Fg = 0
Now NB can be found. ΣFx = FA – NB = 0

Fx = 0;
29.43 N - NB = 0
NB = 29.43 N = 29.4 N Ans.

Finally, the angle θ can be determined by summing moments about point A.

MA = 0; NB (4m sinθ) + FA * 0 – Fg * (2m cos θ) = 0
(29.43 N)(4 m) sin θ - [10(9.81) N](2 m cos 𝜃𝜃) = 0
tan θ = 1.666 ∴ 𝜃𝜃 = 59.00
SOLUTION
Free-Body Diagram. As shown on the free-body
diagram, Fig., the frictional force FA must act
upward since impending motion at A is downward.
By inspection, NA can be obtained directly.
ΣFx = 0;
NA = P

Equations of Equilibrium and Friction. Since the

ladder is on the verge of slipping,
then FA = μsNA = 0.2NA.
Now NB can be found.
ΣFy = 0;
NB +FS – (30 x 9.81)= 0
NB + Fs = 294.3 N.
Finally, summing moments about point B.
ΣMB = 0; NA (3m) + FA * 4 – 294.3 * (2m) = 0
⸫NA = 154.89 N
PAUSE SLIDE
 IMPENDING TIPPING VS. SLIPPING

• For a given weight W and height h of the box, how can we

determine if the block will slide or tip first? In this case, we
have four unknowns (F, N, x, and P) and only the-of-E. 3E
• Hence, we have to make an assumption to give us another
equation (the friction equation!). Then we can solve for the
unknowns using the 3-of-E.
E Finally, we need to check if our
assumption was correct.
IMPENDING TIPPING VS. SLIPPING

Assume: Slipping occurs

Known: Fs = μs N
Solve: x, P, and N
Check: 0 ≤ x ≤ b/2

Assume: Tipping occurs

Known: x = b/2
Solve: P, N, and Fs
Check: Fs ≤ μs N
 SAMPLE
PROBLEM 3

GIVEN: The uniform crate has a mass of 20 kg and a force P = 80 N applied as shown.
The coefficient of static friction is μs = 0.3.
FIND: Determine if the crate remains in equilibrium.

PLAN:
a) Draw FBDs of the crate.
b) Determine the unknowns.
c) Assume that slipping (and not tipping) occurs. Interpret results to justify the
assumption.
 Equations of Equilibrium.
…… (1)
SAMPLE
PROBLEM 3
…….(2)

Draw FBD
 FRICTION & INCLINED PLANES E

θs B

A block with weight W is placed on an inclined plane. The plane

90 - θs
is slowly tilted until the block just begins to slip. A
W C
The inclination, θ s, is noted. Analysis of the block just before it
begins to move gives (using Fs = μs N): +y
+ ∑ Fy = N – W cos θ s = 0 +x
+ ∑ FX = μS N – W sin θ s = 0
Using these 2 equations, we get:
μs = (W sin θs ) / (W cos θs ) = tan θs
This simple experiment allows us to find the μs between two
materials in contact.
 Example:
It is observed that when the bed of the dump truck is raised to an
angle of θ = 25° the vending machines will begin to slide off the
bed. Determine the static coefficient of friction between a
vending machine and the surface of the truckbed.
SOLUTION
SAMPLE An idealized model of a vending machine resting on the truckbed is
PROBLEM 3 shown. The dimensions have been measured and the center of
gravity has been located. We will assume that the vending machine
weighs W.
Free-Body Diagram.
As shown in Fig. 8–8c, the dimension x is used to locate the position of the
resultant normal force N. There are four unknowns, N, F, μs, and x.
Equations of Equilibrium

From Eq. 3, we find x = 0.350 m.

Since 0.350 m < 0.45 m, indeed
wending machine will slip
before it can tip.
BRAIN-
TEASER

If the coefficient of static friction at contacting surface between blocks A and B is μs and
that between block B and bottom is 2 μs, determine the inclination at which the identical
blocks, each of weight W, begin to slide.
*HINT: Assume that the impending motion of the upper block is down the plane while the
impending motion of the lower block is up the plane
- draw 2 FBDs and solve equations
simultaneously. Remember that the forces apparent to the top bock are also applicable
when zooming into the bottom block. Express Θ in termsμof s.
 SELF STUDY

YOUTUBE VIDEOS
W hat is friction?
https://www.youtube.com/watch?v=n2gQs1mcZHA
Static Friction and Kinetic Friction Physics Problems W ith Free Body Diagrams
https://www.youtube.com/watch?v=RIBeeW 1DSZg
Friction problem with moments (tip vs. slip)
https://www.youtube.com/watch?v=JTAydN4fV_M
Introduction to Inclined Planes
https://www.youtube.com/watch?v=ufgY237M5KQ
ENGINEERING PHYSICS
PHY153X
Dr Ignatius JO HN
[email protected] Room 0.032 Term 2 Slides
 WEEK11

CENTRE OF GRAVITY AND CENTROIDS

Statics, Chapter 9
 OUTLINE

• Center of gravity
• Center of mass
• Concept of centroid
• Centroid of volume
• Centroid of line
• Centroid of area
• Composite bodies
 APPLICATION

When a pressure tank of any

shape is designed, it is important
to be able to determine its center
of gravity, calculate its volume and
surface area, and determine the
forces of the liquids they contain.
 CENTER OF GRAVITY

A body is composed of an infinite number of particles

of differential size.
If the body is located within a gravitational field, then
each of these particles will have a weight dW .
These weights will form a parallel force system, and
the resultant of this system
is the total weight of the
body.
This weight passes through a single point called the
center of gravity, G
 CENTER OF GRAVITY

The total weight W of the body is the sum of the weights of all of its particles dW .
 CENTER OF GRAVITY

(𝑀𝑀𝑅𝑅 )𝑧𝑧 = Σ𝑀𝑀𝑍𝑍

 CENTER OF GRAVITY

•
 CENTER OF GRAVITY

•
 CENTER OF GRAVITY

•
 CENTER OF GRAVITY

•
 CENTER OF MASS

The coordinates of the center of mass are:

Similarly, the coordinates of the centroid of volume,

area, or length can be obtained by replacing W by
V , A , or L , respectively.
 CONCEPT OF CENTROIDS

• The centroid, C, is a point defining the

geometric center of an object.
• The centroid coincides with the center of mass
or the center of gravity only if the material of
the body is homogenous (density or specific
weight is constant throughout the body).
• If an object has an axis of symmetry, then the
centroid of object lies on that axis.
• In some cases, the centroid may not be located
on the object.
 CENTROID OF VOLUME

𝑚𝑚
If the body is made from a homogeneous material, then its density 𝝆𝝆 (rho) will Density 𝜌𝜌 =
𝑉𝑉
be constant.
Therefore, a differential element of volume dV has a mass dm = 𝝆𝝆 dV .
Which leads to the centroid C being located at:
 CENTROID OF LINE

If a line segment (or rod) lies within the x–y plane and it can be described by a
thin curve y = f (x).
Then the centroid C is located at:
CENTROID OF LINE
 CENTROID OF LINE

Locate the centroid of the rod bent into the shape of a parabolic arc.
Area and Moment Arms. The differential element of length dL can be
dx and dy using thePythagorean
expressed in terms of the differentials
theorem.
 CENTROID OF AREA

If an area lies in the x–y plane and is bounded

by the curvey = f (x) , as shown, then its
centroid C will be in this plane and can be
determined from integrals:
•
CENTROID OF AN AREA
 •

STEPS:
CENTRO ID
O F AREA
 SAMPLE PROBLEM 1

•
 𝑑𝑑𝑑𝑑 = 𝑦𝑦 𝑑𝑑𝑑𝑑
𝑦𝑦
𝑥𝑥� = 𝑥𝑥, 𝑦𝑦� = �2
𝑦𝑦 = 𝑥𝑥3
SAMPLE PROBLEM 1

~
4. x = ( ∫A x dA ) / ( ∫A dA )

0 ∫ 1 x (x3 ) d x 1/5 [ x5 ]10

= =
1
0∫ (x3 ) d x 1/4 [ x4 ]1
0
= ( 1/5) / ( 1/4) = 0.8 m

~ 1 3
∫A y dA 0 (x / 2) ( x ) dx
∫ 3 1/14[x7]10
y = = 1 3 =
∫A dA 0 ∫x dx 1/4

= (1/14) / (1/4) = 0.2857 m

 𝑑𝑑𝑑𝑑 = 𝑑𝑑𝑑𝑑 = 𝑥𝑥 𝑑𝑑𝑑𝑑 = 𝑦𝑦𝑑𝑑𝑑𝑑
𝑥𝑥� = 𝑥𝑥 √𝑦𝑦
𝑦𝑦� = 𝑥𝑥� = = , 𝑦𝑦� = 𝑦𝑦
2 2
𝑦𝑦 = 𝑥𝑥2 𝑦𝑦 = 𝑥𝑥2
~
4. x = ( ∫A x dA ) / ( ∫A dA )
SAMPLE PROBLEM
2

= = 0.375

y = = =
SAMPLE PROBLEM 3

~
4. x = ( ∫A x dA ) / ( ∫A dA )

= =

y = = =

𝑑𝑑𝑑𝑑 =
𝑥𝑥� = 𝑥𝑥,
𝑦𝑦� =?
𝑦𝑦 = 𝑥𝑥2
PAUSE SLIDE
 SAMPLE PROBLEM 2

GIVEN: The shape and associated horizontal

rectangular strip shown.
FIND: dA and (x , y)
PLAN: Follow the steps.
SOLUTION:
1. dA = (1-x) dy = (1-y2) dy ~x

~y
 𝑑𝑑𝑑𝑑 = 1 − 𝑥𝑥 𝑑𝑑𝑑𝑑 = 1 − 𝑦𝑦2 𝑑𝑑𝑑𝑑
1−𝑥𝑥 𝑥𝑥+1
𝑥𝑥� = 𝑥𝑥 + = = (1 + 𝑦𝑦2)/2
2 2
𝑦𝑦� = 𝑦𝑦
𝑦𝑦2 = 𝑥𝑥
~
4. x = ( ∫A x dA ) / ( ∫A dA )
SAMPLE PROBLEM
2

0∫ (1 + y2)/2 (1-y2) dy
1
= 1
= 0.6 m
0∫ (1-y2 ) dy
~x

~y

~ 1
∫A y dA 0 ∫ (y) (1- y2) dy
y = =
∫A dA 0 ∫ 1 (1-y 2 ) dy
 COMPOSITE BODIES

Many industrial objects can be considered as composite bodies

made up of a series of connected “simple-shaped” parts, like a
rectangle, triangle, and semicircle, or holes.
Knowing the location of the centroid or center of gravity of the
simple-shaped parts, we can easily determine the location of the
C or CG for the more complex composite body.
This can be done by considering each part as a “particle” and
following the procedure as described previously.
 CENTER OF GRAVITY

•
 COMPOSITE BODIES

Tilde ~
 COMPOSITE BODIES

L, A, m,V

Tilde ~

𝜮𝜮 L, A, m,V
 1. Divide the body into pieces that are known shapes.
Holes are considered as pieces with negative
weight or size.
2. Make a table with the first column for segment
number, the second column for weight, mass, or
size (depending on the problem), the next set of
STEPS: columns for the moment arms, and, finally, several
CO MPO SITE columns for recording results of simple
intermediate calculations.
BO DIES
3. Fix the coordinate axes, determine the coordinates
of the center of gravity of centroid of each piece,
and then fill in the table.
4. Sum the columns to get x, y, and z.
 SAMPLE PROBLEM 4

GIVEN: Locate the centroid of the wire shown in Fig.

PLAN: Follow the steps of analysis.
• SolutIon
• Composite Parts. The wire is divided into three segments as shown in Fig. 9–16b.
• Moment Arms. The location of the centroid for each segment is determined and indicated in the figure. In
particular, the centroid of segment 1 is determined either by integration or by using the table on the inside back cover.
• Summations. For convenience, the calculations can be tabulated as follows:
SAMPLE PROBLEM
4
 SAMPLE PROBLEM
5

Locate the centroid of the plate area

shown in Fig.

Solution
Composite Parts. The plate is divided into
three segments as shown in Fig. b. Here the area
of the small rectangle 3 is considered “negative”
since it must be subtracted from the larger one 2 .
Moment Arms. The centroid of each segment
is located as indicated in the figure. Note that the
~x coordinates of 2 and 3 are negative.

Summations. Taking the data from Fig. b, the

calculations are ted as follows:
 SAMPLE PROBLEM 5 …

Locate the centroid of the plate area

shown in Fig.
 SAMPLE PROBLEM
3

GIVEN: Three blocks are assembled

as shown.
FIND: The center of volume of this assembly.
A B C
PLAN: Follow the steps of analysis.

SOLUTION:
1. In this problem, the blocks A, B and C can be considered as three pieces (or
segments).
 Volumes of each shape:
2/3
VA = base area x d =1⁄2 𝑏𝑏ℎ × 𝑑𝑑 = (0.5) (1.8) (1.5) (0.5) = 0.675m3
1.8
VB = (2.5) (1.8) (0.5) = 2.25 m3 B
𝑦𝑦� =0.6 A C
VC = (0.5) (1.5) (1.8) (0.5) = 0.675 m3
2/3 1.5 𝑥𝑥=0.5
�
SAMPLE PROBLEM
3

Segment V (m3) x~(m) y~ (m) z~(m) ~

x V (m4) ~yV (m4) ~zV (m4)
A
1
𝑥𝑥� =1.5 = 0.5
A 0.675 0.5 0.25 0.6 0.3375 0.1688 0.405 3
1
𝑦𝑦� = 0.5 = 0.25
B 2.25 0.25 1.25 0.9 0.5625 2.813 2.025 2
1
𝑧𝑧̃ = 1.8 = 0.6
C 0.675 0.25 3.0 0.6 0.1688 2.025 0.405 3
Σ 3.6 1.0688 5.007 2.835
A
 Table
Summary
B
A C
SAMPLE PROBLEM 3

~ ~ ~
V (m3) xV yV zV
(m4) (m4) (m4)
3.6 1.406 5.007 2.835

Substituting into the Center of Volume

equations:
x = (Σ x~ V) / ( ΣV ) = 1.068 / 3.6 = 0.2969 m
y = (Σ ~y V) / ( ΣV ) = 5.007 / 3.6 = 1.39 m
z = (Σ ~z V) / ( ΣV ) = 2.835 / 3.6 = 0.788 m
 SELF STUDY

YOUTUBE VIDEOS
CENTRE O F GRAVITY
• https://www.youtube.com/watch?v=UIMC4Ko31oI
CENTRE O F GRAVITY VS. MASS
• https://www.youtube.com/watch?v=RkeVW ysS8O w
PRACTICAL
• https://www.youtube.com/watch?v=R8wKV0UQ tlo