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1Formulas and methods
Vectors: dot & cross product
Magnitude
|a| = √(ax² + ay² + az²)
Unit vector
û = a/|a|
Components from an angle
Fx = F·cos θ, Fy = F·sin θ
Dot product
a·b = axbx + ayby + azbz = |a||b|cos θ
Scalar projection of a onto b
a·b/|b|
Work
W = F·d
Cross product
a × b = (aybz − azby, azbx − axbz, axby − aybx)
Areas
parallelogram |a × b|, triangle ½|a × b|
Moment about O
MO = r × F, r = A − O
Volume of a parallelepiped
V = |a·(b × c)|
Method
Write every vector in components; for a force given by a magnitude and an angle, use F·cos θ and F·sin θ.
For lengths and directions use the magnitude √(x² + y² + z²) and the unit vector a/|a|.
Use the dot product for angles, projections, perpendicularity and work: a·b = |a||b|cos θ.
Use the cross product for perpendicular vectors, areas and moments: write the three components carefully, keeping the order a × b.
Beam support reactions
Equilibrium
ΣFx = 0, ΣFy = 0, ΣM = 0
Uniform load
resultant w·L at the middle of the load
Moment
M = F·d
Method
Draw a free-body diagram and replace each support by its reactions.
Replace every distributed load by a single force at its centroid.
Take moments about one support to find the reaction at the other.
Use ΣFy = 0 to find the remaining reaction, and check with a second moment equation.
Truss: method of joints
Method of joints
ΣFx = 0, ΣFy = 0 at each joint
Method of sections
ΣM = 0 about a cut point
Member force
positive = tension, negative = compression
Method
Find the support reactions for the whole truss.
Method of joints: start at a joint with at most two unknown member forces and use ΣFx = 0 and ΣFy = 0.
Method of sections: cut through the member you need and take moments about a point where the other unknown members meet.
Assume tension; a negative answer means compression.
Frames & machines
Equilibrium of each member
ΣFx = 0, ΣFy = 0, ΣM = 0
Two-force member
force along the line through its two pins
Pin force
equal and opposite on the two members it joins
Magnitude of a pin force
F = √(Fx² + Fy²)
Lever, pliers, bell crank
Fin·a = Fout·b
Toggle
Flink = F/(2 sin θ), Q = F/(2 tan θ)
Uniform load
resultant w·L at the middle of the load
Method
Draw the whole structure and find the support reactions if there are no more than three unknowns.
Spot the two-force members: loaded only at two pins, their force acts along the line between the pins.
Take the frame apart and draw every member on its own, with equal and opposite pin forces where members meet.
For each member, take moments about a pin with unknown forces, then use ΣFx = 0 and ΣFy = 0; combine components into a magnitude at the end.
Shear force & bending moment
Shear and moment
V = ΣF on one side, M = ΣF·d on one side
Bending stress
σ = M·y/I
Rectangle
I = bh³/12
Section modulus
W = I/ymax
Simply supported, uniform load
Mmax = wL²/8
Method
Find the support reactions from equilibrium of the whole beam.
Cut the beam at the section you need and keep one side.
Shear force: sum of the vertical forces on that side. Bending moment: sum of their moments about the cut.
For the maximum moment, find where the shear force is zero.
Centroid & second moment of area
Centroid
ȳ = ΣAiyi/ΣAi
Rectangle
I = bh³/12
Parallel-axis theorem
I = Ic + A·d²
Composite section
I = Σ(Ic,i + Aidi²)
2Practice problems
1.Vectors: dot & cross productMedium
A constant force F = (5, −25, −5) N acts on an object while it moves in a straight line from point A(−3, −5, 0) to point B(1, 3, −1). Coordinates are in metres. Find the work W done by the force.
F = (5, −25, −5) NA(−3, −5, 0) mB(1, 3, −1) m
W = J
2.Vectors: dot & cross productHard
The unit vector n̂ is perpendicular to both a = (−1, −2, 1) and b = (2, −5, 2) and has a positive z-component. Find its x-component n̂x.
a = (−1, −2, 1)b = (2, −5, 2)n̂z > 0
n̂x =
3.Beam support reactionsMedium
The simply supported beam (pin at A, roller at B) carries a linearly varying load that falls from 12 kN/m at A to zero at B. Find the vertical support reaction RB.
L = 10 mw0 = 12 kN/m
RB = kN
4.Beam support reactionsHard
The simply supported beam has a pin at A and a roller at B. Find the vertical support reaction RA.
L = 8 mP = 60 kN at 1 mw = 2 kN/m from 6 to 8 m
RA = kN
5.Truss: method of jointsMedium
Exactly one member of this truss carries no force under these loads. Which is the zero-force member? Click it in the diagram.
B: 20 kN ↓F: 40 kN ↓G: 15 kN ↓
1member AB
2member BC
3member CD
4member DE
5member FG
6member GH
7member AF
8member HE
9member BF
10member CG
11member DH
12member FC
13member HC
6.Truss: method of jointsHard
Exactly one member of this truss carries no force under these loads. Which is the zero-force member? Click it in the diagram.
The bell crank shown turns about the pin O. A vertical force of 50 N at A (150 mm from O) is balanced by a horizontal force at B (75 mm above O). Find the magnitude of the pin reaction FO.
F = 50 NOA = 150 mmOB = 75 mm
FO = N
8.Frames & machinesHard
A uniform horizontal boom AB of weight 3 kN is pinned to a wall at A and held by a cable from B to the point C on the wall, 1 m above A. A load of 5 kN hangs at B. Find the magnitude of the pin reaction A.
W = 5 kNWb = 3 kNAB = 4 mAC = 1 m
A = kN
9.Shear force & bending momentMedium
Find the bending moment Mx at the section x = 2.5 m from support A. Use sagging moments positive and upward shear on the left face positive.
L = 6 mw = 3 kN/m from 0 to 6 mx = 2.5 m
Mx = kN·m
10.Shear force & bending momentHard
The marks A to G split the beam into six equal parts. At which mark is the bending moment largest in size, sagging or hogging? Click it in the diagram.
45 kN @ 0 m30 kN @ 12 m15 kN @ 6 m8 kN/m, 2–10 m
1A (x = 0 m)
2B (x = 2 m)
3C (x = 4 m)
4D (x = 6 m)
5E (x = 8 m)
6F (x = 10 m)
7G (x = 12 m)
11.Centroid & second moment of areaMedium
A circular tube has outside diameter D = 70 mm and inside diameter d = 62 mm. Find its radius of gyration r about the horizontal centroidal axis.
D = 70 mmd = 62 mm
r = mm
12.Centroid & second moment of areaHard
The T-section is used as a beam with the flange on top and carries a sagging bending moment of 15 kN·m. Find the bending stress σbottom at the bottom edge.
Dot product:a·b = axbx + ayby + azbz = |a|·|b|·cos θ, a scalar. It gives the angle between two vectors, cos θ = a·b/(|a|·|b|), and it is zero when they are perpendicular. The scalar projection of a onto b is a·b/|b|, and a constant force F moving through a displacement d does work W = F·d.
Displacement
d = B − A = (1, 3, −1) − (−3, −5, 0) = (4, 8, −1) m
Work
W = F·d = 5·4 + (−25)·8 + (−5)·(−1) = −175 J
Answer
W = −175 J
Negative work: the force acts mostly against the motion.
2.Vectors: dot & cross product
Answer: n̂x = 0.101
Cross product:a × b = (aybz − azby, azbx − axbz, axby − aybx) is perpendicular to both vectors, and |a × b| = |a|·|b|·sin θ is the area of the parallelogram they span (the triangle has half of it). Order matters: b × a = −(a × b). The moment of a force F applied at point A about point O is MO = r × F, with r = A − O.
Cross product
(a × b)x = aybz − azby = (−2)·2 − 1·(−5) = 1
(a × b)y = azbx − axbz = 1·2 − (−1)·2 = 4
(a × b)z = axby − aybx = (−1)·(−5) − (−2)·2 = 9
Normalise
The z-component of a × b is already positive.
|a × b| = √(1² + 4² + 9²) = 9.899
n̂ = (1, 4, 9)/9.899 = (0.101, 0.4041, 0.9091)
n̂x = 0.101
Answer
n̂x = 0.101
3.Beam support reactions
Answer: RB = 20 kN
Static equilibrium: a body at rest has ΣFx = 0, ΣFy = 0 and ΣM = 0 about any point. Replace each distributed load by its resultant (its area) acting at the centroid of the load diagram, and take moments about a support to remove that support’s reaction from the equation.
Resultant of the triangular load
W = ½·12·10 = 60 kN
x̄ = L/3 = 3.333 m
Equilibrium
Moments about A, counter-clockwise positive. Then vertical force balance.
ΣMA = 0: RB·10 = 60·3.333
RB = 20 kN
RA = 60 − 20 = 40 kN
Answer
RB = 20 kN
4.Beam support reactions
Answer: RA = 53 kN
Static equilibrium: a body at rest has ΣFx = 0, ΣFy = 0 and ΣM = 0 about any point. Taking moments about one support removes that support’s reaction from the equation.
Free-body diagram
Replace the supports with reaction forces. A roller gives one vertical reaction; with only vertical loads the pin gives one vertical reaction too.
Equilibrium
Moments about A, counter-clockwise positive. Then vertical force balance.
UDL resultant: W = w·ℓ = 2·2 = 4 kN, acting at x̄ = 7 m
ΣMA = 0: RB·8 = 60·1 + 2·2·7
RB = 88/8 = 11 kN
ΣFy = 0: RA = 64 − 11 = 53 kN
Answer
RA = 53 kN
5.Truss: method of joints
Answer: member DH
Zero-force members: at a joint, the forces must balance in every direction. If a joint has no load and no support, and two of its three members are in line, then the balance across that line involves only the third member, so its force is zero. If only two members meet at an unloaded joint and they are not in line, both are zero.
Joint D
CD and DE lie on one straight line and the joint carries no load. Balancing forces across that line leaves only DH.
ΣF⊥ = 0 → FDH = 0
Check with the method of joints
Solving all joints gives these member forces (T = tension, C = compression).
Zero-force members: at a joint, the forces must balance in every direction. If a joint has no load and no support, and two of its three members are in line, then the balance across that line involves only the third member, so its force is zero. If only two members meet at an unloaded joint and they are not in line, both are zero.
Joint B
AB and BC lie on one straight line and the joint carries no load. Balancing forces across that line leaves only BF.
ΣF⊥ = 0 → FBF = 0
Check with the method of joints
Solving all joints gives these member forces (T = tension, C = compression).
Machines: pliers, levers, linkages and clamps turn an input force into a larger or a differently directed output force. Draw one part as a free body and take moments about its pivot: the pin force drops out, and Fin·a = Fout·b gives the mechanical advantage a/b. The pin force then follows from ΣF = 0 on the same part. In a toggle, two links meet at a shallow angle θ; each link is a two-force member, so a small force F at the joint creates large link forces F/(2 sin θ) and a clamping force F/(2 tan θ).
Force at B
Q = 50·150/75 = 100 N
Pin reaction
Ox = 100 N, Oy = 50 N
FO = √(100² + 50²) = 111.8 N
Answer
FO = 111.8 N
8.Frames & machines
Answer: A = 26.04 kN
Frames and machines: unlike a truss, a frame contains at least one member that carries forces at more than two points, or a load between its pins. First look for two-force members: a member loaded only at two pins has its force along the line through them, so it adds one unknown, not two. Then use the whole structure for the support reactions when there are no more than three unknowns. Finally take the frame apart: draw each member separately, with the pin forces equal and opposite on the two members they connect, and write ΣFx = 0, ΣFy = 0 and ΣM = 0 for it. Taking moments about a pin removes both components of that pin force from the equation.
Cable tension
T = (5 + 3/2)/0.2425 = 26.8 kN
Components at A
Ax = T·cos β = 26 kN
Ay = 5 + 3 − T·sin β = 1.5 kN
Magnitude
A = √(26² + 1.5²) = 26.04 kN
Answer
A = 26.04 kN
9.Shear force & bending moment
Answer: Mx = 13.13 kN·m
Method of sections: cut the beam where you want the internal forces and keep one side. The shear force V balances the vertical forces on that side, and the bending moment M balances their moments about the cut.
Support reactions
Equilibrium of the whole beam.
UDL resultant: W = w·ℓ = 3·6 = 18 kN, acting at x̄ = 3 m
ΣMA = 0: RB·6 = 3·6·3
RB = 54/6 = 9 kN
ΣFy = 0: RA = 18 − 9 = 9 kN
Cut at x = 2.5 m and keep the left part
Only forces left of the cut appear. A UDL portion acts as one force at the middle of that portion.
M = RA·x − (each load left of the cut × its distance to the cut)
Mx = 9·2.5 − 3·2.5·1.25 = 13.13 kN·m
Answer
Mx = 13.13 kN·m
10.Shear force & bending moment
Answer: B (x = 2 m)
Largest bending moment: M changes slope wherever the shear force changes, so its peaks sit where the shear force crosses zero: under a point load, inside a distributed load, or over a support of an overhang. At a fixed support of a cantilever the moment is largest at the wall. Compare the size of M at those places, sagging or hogging.
Support reactions
Take moments about one support, then use the vertical force balance.
R1 = 88.25 kN, R2 = 65.75 kN
Bending moment at every mark
Sum the moments of all forces on one side of the cut. Sagging is positive, hogging negative.
MA = 0, MB = −90 kN·m, MC = −19.5, MD = 19, ME = −4.5, MF = −60, MG = 0
Answer
Mark B: MB = −90 kN·m
11.Centroid & second moment of area
Answer: r = 23.38 mm
Second moment of area: for a rectangle about its own centroidal axis I = bh³/12, and about its base bh³/3 (parallel-axis theorem I = Ic + A·d²). A hole is handled by subtracting its I, as long as both parts share the same axis. The elastic section modulus is S = I/c, where c is the distance to the extreme fibre. The radius of gyration r = √(I/A) is the distance at which the whole area would give the same I; it is used in column buckling.
Net area and second moment of area
A = π(D² − d²)/4 = 829.4 mm²
I = π(D⁴ − d⁴)/64 = 453256 mm⁴
Radius of gyration
r = √(I/A) = √(453256/829.4) = 23.38 mm
Answer
r = 23.38 mm
12.Centroid & second moment of area
Answer: σbottom = 106.5 MPa
Composite areas: split the section into rectangles. The centroid is the area-weighted average ȳ = ΣAᵢyᵢ/ΣAᵢ. The second moment of area about the centroidal axis adds each part’s own bh³/12 and its parallel-axis term A·d², where d is the distance from the part’s centroid to the overall centroid. Bending stress is σ = M·y/I.
Split into two rectangles
Measure every y from the bottom edge.
flange: Af = 180·30 = 5400 mm², yf = 180 + 30/2 = 195 mm