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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
Find the angle θ between the vectors a = (3, −4, 3) and b = (6, −1, 1), in degrees.
a = (3, −4, 3)b = (6, −1, 1)
θ = °
2.Vectors: dot & cross productHard
A force F = (−20, 60, 60) N acts at point A(0, 2, 1). Coordinates are in metres. Find the x-component Mx of the moment of the force about the origin O(0, 0, 0).
F = (−20, 60, 60) NA(0, 2, 1) mO(0, 0, 0) m
Mx = N·m
3.Beam support reactionsMedium
The simply supported beam has a pin at A and a roller at B. Find the vertical support reaction RB.
L = 10 mP1 = 10 kN at 2 mP2 = 55 kN at 3 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 RB.
L = 10 mP = 50 kN at 6 mw = 2 kN/m from 1 to 10 m
RB = kN
5.Truss: method of jointsMedium
Use the method of joints to find the force FBC in member BC. Give tension as positive and compression as negative.
span = 6 mheight = 2 mB is 1 m from Avertical load = 40 kN
FBC = kN
6.Truss: method of jointsHard
Use the method of joints to find the force FAB in member AB. Give tension as positive and compression as negative.
span = 4 mheight = 4 mB is 3 m from Avertical load = 35 kNhorizontal load = 5 kN →
FAB = kN
7.Frames & machinesMedium
The bell crank shown turns about the pin O. A vertical force of 150 N at A (300 mm from O) is balanced by a horizontal force at B (100 mm above O). Find the magnitude of the pin reaction FO.
F = 150 NOA = 300 mmOB = 100 mm
FO = N
8.Frames & machinesHard
The A-frame shown stands on a pin at A and a roller at B, 4.8 m apart. The legs meet at the pin C, 4.5 m high, and are tied by the horizontal bar DE at 1.2 m. A horizontal force of 15 kN to the right acts at C. Find the tension T in the tie.
P = 15 kNAB = 4.8 mheight of C = 4.5 mheight of DE = 1.2 m
T = kN
9.Shear force & bending momentMedium
Find the bending moment Mx at the section x = 7 m from support A. Use sagging moments positive and upward shear on the left face positive.
L = 8 mw = 3 kN/m from 0 to 8 mx = 7 m
Mx = kN·m
10.Shear force & bending momentHard
Find the bending moment Mx at the section x = 1 m from support A. Use sagging moments positive and upward shear on the left face positive.
L = 8 mP = 50 kN at 1 mw = 2 kN/m from 0 to 8 mx = 1 m
Mx = kN·m
11.Centroid & second moment of areaMedium
A symmetric I-section has flanges 110 mm wide and 16 mm thick, an overall depth of 360 mm and a web 8 mm thick. Find its elastic section modulus Sx for bending about the horizontal centroidal axis x.
B = 110 mmH = 360 mmtf = 16 mmtw = 8 mm
Sx = × 10³ mm³
12.Centroid & second moment of areaHard
A 100 mm × 150 mm plate has a rectangular cut-out 30 mm wide and 50 mm high, centred on the vertical centre line with its centre 52.5 mm above the bottom. Find the second moment of area Ix about the horizontal axis through the centroid.
b = 100 mmh = 150 mmcut-out: 30 × 50 mmhole centre: y = 52.5 mm
Ix = × 10⁶ mm⁴
3Solutions
1.Vectors: dot & cross product
Answer: θ = 45.93 °
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.
Dot product
a·b = 3·6 + (−4)·(−1) + 3·1 = 25
Magnitudes
|a| = √(3² + (−4)² + 3²) = 5.831
|b| = √(6² + (−1)² + 1²) = 6.164
Angle
cos θ = 25/(5.831·6.164) = 0.6955
θ = arccos(0.6955) = 45.93°
Answer
θ = 45.93°
2.Vectors: dot & cross product
Answer: Mx = 60 N·m
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.
Position vector from O to A
r = A − O = (0, 2, 1) − (0, 0, 0) = (0, 2, 1) m
Moment M = r × F
(r × F)x = ryFz − rzFy = 2·60 − 1·60 = 60 N·m
(r × F)y = rzFx − rxFz = 1·(−20) − 0·60 = −20 N·m
(r × F)z = rxFy − ryFx = 0·60 − 2·(−20) = 40 N·m
Requested component
Mx = 60 N·m
Answer
Mx = 60 N·m
3.Beam support reactions
Answer: RB = 18.5 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.
ΣMA = 0: RB·10 = 10·2 + 55·3
RB = 185/10 = 18.5 kN
ΣFy = 0: RA = 65 − 18.5 = 46.5 kN
Answer
RB = 18.5 kN
4.Beam support reactions
Answer: RB = 39.9 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 = 2·9 = 18 kN, acting at x̄ = 5.5 m
ΣMA = 0: RB·10 = 50·6 + 2·9·5.5
RB = 399/10 = 39.9 kN
ΣFy = 0: RA = 68 − 39.9 = 28.1 kN
Answer
RB = 39.9 kN
5.Truss: method of joints
Answer: FBC = −17.95 kN
Method of joints: every pin of a truss is in equilibrium, so ΣFx = 0 and ΣFy = 0 at each joint. Start at a joint with at most two unknown member forces. A negative result means the member is in compression.
Support reactions
Equilibrium of the whole truss. Moments about A, counter-clockwise positive.
ΣMA = 0: Cy·6 = 40·1 → Cy = 6.667 kN
ΣFy = 0: Ay = 40 − 6.667 = 33.33 kN
Joint C
The roller gives only a vertical reaction, so joint C has just two unknown member forces. Assume both in tension.
sin γ = 2/5.385 = 0.3714, cos γ = 5/5.385 = 0.9285
Method of joints: every pin of a truss is in equilibrium, so ΣFx = 0 and ΣFy = 0 at each joint. Start at a joint with at most two unknown member forces. A negative result means the member is in compression.
Support reactions
Equilibrium of the whole truss. Moments about A, counter-clockwise positive.
ΣMA = 0: Cy·4 = 35·3 + 5·4 → Cy = 31.25 kN
ΣFy = 0: Ay = 35 − 31.25 = 3.75 kN
ΣFx = 0: Ax = −5 kN
Joint A
Assume every member is in tension (pulling away from the joint). Only AB has a vertical component at A.
sin α = 4/5 = 0.8
ΣFy = 0: Ay + FAB·sin α = 0
FAB = −3.75/0.8 = −4.688 kN
Answer
FAB = −4.688 kN (compression)
7.Frames & machines
Answer: FO = 474.3 N
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 = 150·300/100 = 450 N
Pin reaction
Ox = 450 N, Oy = 150 N
FO = √(450² + 150²) = 474.3 N
Answer
FO = 474.3 N
8.Frames & machines
Answer: T = 10.23 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.
Whole frame: moments about A
By·4.8 = 15·4.5
By = 14.06 kN
Leg BC: moments about C
14.06·2.4 = T·3.3
T = 10.23 kN
Answer
T = 10.23 kN
A positive T means the tie is in tension, as assumed.
9.Shear force & bending moment
Answer: Mx = 10.5 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 = 3·8 = 24 kN, acting at x̄ = 4 m
ΣMA = 0: RB·8 = 3·8·4
RB = 96/8 = 12 kN
ΣFy = 0: RA = 24 − 12 = 12 kN
Cut at x = 7 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 = 12·7 − 3·7·3.5 = 10.5 kN·m
Answer
Mx = 10.5 kN·m
10.Shear force & bending moment
Answer: Mx = 50.75 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 = 2·8 = 16 kN, acting at x̄ = 4 m
ΣMA = 0: RB·8 = 50·1 + 2·8·4
RB = 114/8 = 14.25 kN
ΣFy = 0: RA = 66 − 14.25 = 51.75 kN
Cut at x = 1 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 = 51.75·1 − 2·1·0.5 = 50.75 kN·m
Answer
Mx = 50.75 kN·m
11.Centroid & second moment of area
Answer: Sx = 709.6 × 10³ mm³
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.
Outer rectangle minus the two side cut-outs
Both cut-outs together are (B − tw) wide and hw = H − 2tf high, and share the axis x.
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 = (Ic1 + A₁d₁²) − (Ic2 + A₂d₂²), where d is the distance from each part's own centroid to the axis through ȳ. A rectangle has Ic = bh³/12 and a circle Ic = πd⁴/64.
Centroid
ȳ = (15000·75 − 1500·52.5)/(15000 − 1500) = 77.5 mm