Statics: cram pack

Dot product: a·b = a_xb_x + a_yb_y + a_zb_z = |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.

Cross product: a × b = (a_yb_z − a_zb_y, a_zb_x − a_xb_z, a_xb_y − a_yb_x) 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 M_O = r × F, with r = A − O.

Cantilever equilibrium: a fixed support can push up and also resist rotation, so it gives a vertical reaction R_A and a reaction moment M_A. ΣF_y = 0 gives R_A, and moments about the wall give M_A = Σ(load × distance from the wall). A distributed load acts as its resultant at the centroid of the load diagram.

Static equilibrium: a body at rest has ΣF_x = 0, ΣF_y = 0 and ΣM = 0 about any point. Taking moments about one support removes that support’s reaction from the equation.

Method of joints: every pin of a truss is in equilibrium, so ΣF_x = 0 and ΣF_y = 0 at each joint. Start at a joint with at most two unknown member forces. A negative result means the member is in 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.

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 F_in·a = F_out·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).

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 ΣF_x = 0, ΣF_y = 0 and ΣM = 0 for it. Taking moments about a pin removes both components of that pin force from the equation.

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.

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.

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.

Sections with holes: treat a hole as a negative area. The centroid is ȳ = (A₁y₁ − A₂y₂)/(A₁ − A₂), with A₁, y₁ for the full plate and A₂, y₂ for the hole. For the second moment of area about the centroidal axis, use the parallel-axis theorem for each part and subtract the hole: I = (I_c1 + A₁d₁²) − (I_c2 + A₂d₂²), where d is the distance from each part's own centroid to the axis through ȳ. A rectangle has I_c = bh³/12 and a circle I_c = πd⁴/64.