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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 = (5, 1, 5) and b = (−1, 1, 2), in degrees.
a = (5, 1, 5)b = (−1, 1, 2)
θ = °
2.Vectors: dot & cross productHard
Find the area A of the triangle with corners A(1, 3, −3), B(−1, −3, 3) and C(−2, 2, −1). Coordinates are in metres.
A(1, 3, −3)B(−1, −3, 3)C(−2, 2, −1)
A = m²
3.Beam support reactionsMedium
The simply supported beam (pin at A, roller at B) carries a linearly varying load that falls from 4 kN/m at A to zero at B. A point load P also acts at 0.5 m from A. Find the vertical support reaction RA.
L = 4 mw0 = 4 kN/mP = 15 kN at 0.5 m
RA = kN
4.Beam support reactionsHard
A compound beam is fixed to the wall at A, has an internal hinge at C (5 m from A) and rests on a roller at D (10 m from A). It carries a point load P at 9 m from A, a uniformly distributed load w on the whole part CD and a point load Q at 3 m from A. Find the reaction RD at the roller.
AC = 5 mAD = 10 mP = 30 kN at 9 mw = 10 kN/m from 5 to 10 mQ = 65 kN at 3 m
RD = kN
5.Truss: method of jointsMedium
Use the method of joints to find the force FAC in member AC. Give tension as positive and compression as negative.
span = 6 mheight = 3 mB is 2 m from Avertical load = 15 kN
FAC = kN
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 A-frame shown stands on a pin at A and a roller at B, 6 m apart, with its apex pin C 2.5 m high and the horizontal tie DE 1 m above the ground. A vertical load of 5 kN acts on leg AC at K, 0.75 m (horizontally) from A. Find the tension T in the tie.
P = 5 kNAB = 6 mheight of C = 2.5 mheight of DE = 1 mhorizontal distance A to K = 0.75 m
T = kN
8.Frames & machinesHard
A uniform horizontal boom AB of weight 1.5 kN is pinned to a wall at A and held by a cable from B to the point C on the wall, 2.5 m above A. A load of 8 kN hangs at B. Find the magnitude of the pin reaction A.
W = 8 kNWb = 1.5 kNAB = 4 mAC = 2.5 m
A = kN
9.Shear force & bending momentMedium
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 @ 4 m8 kN/m, 0–6 m
1A (x = 0 m)
2B (x = 1 m)
3C (x = 2 m)
4D (x = 3 m)
5E (x = 4 m)
6F (x = 5 m)
7G (x = 6 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.
50 kN @ 12 m5 kN/m, 0–10 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 100 mm × 200 mm plate has a circular hole of diameter 60 mm on its vertical centre line, with its centre 120 mm above the bottom. Find the second moment of area Ix about the horizontal axis through the centroid.
b = 100 mmh = 200 mmd = 60 mmhole centre: y = 120 mm
Ix = × 10⁶ mm⁴
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 30 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.
Dot product
a·b = 5·(−1) + 1·1 + 5·2 = 6
Magnitudes
|a| = √(5² + 1² + 5²) = 7.141
|b| = √((−1)² + 1² + 2²) = 2.449
Angle
cos θ = 6/(7.141·2.449) = 0.343
θ = arccos(0.343) = 69.94°
Answer
θ = 69.94°
2.Vectors: dot & cross product
Answer: A = 11.05 m²
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.
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 = ½·4·4 = 8 kN
x̄ = L/3 = 1.333 m
Equilibrium
Moments about A, counter-clockwise positive. Then vertical force balance.
ΣMA = 0: RB·4 = 8·1.333 + 15·0.5
RB = 4.542 kN
RA = 23 − 4.542 = 18.46 kN
Answer
RA = 18.46 kN
4.Beam support reactions
Answer: RD = 49 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. An internal hinge cannot carry a bending moment, which gives one extra equation: the moment about the hinge of the forces on either side is zero.
Part CD
The hinge has no moment, so moments about C on CD alone must balance.
W = 10·5 = 50 kN at 2.5 m from C
ΣMC = 0: RD·5 = 30·4 + 50·2.5
RD = 49 kN
VC = 80 − 49 = 31 kN
Answer
RD = 49 kN
5.Truss: method of joints
Answer: FAC = 6.667 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 = 15·2 → Cy = 5 kN
ΣFy = 0: Ay = 15 − 5 = 10 kN
Joint C
The roller gives only a vertical reaction, so joint C has just two unknown member forces. Assume both in tension.
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).
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 = 5·0.75/6 = 0.625 kN
Leg BC: moments about C
0.625·3 = T·1.5
T = 1.25 kN
Answer
T = 1.25 kN
8.Frames & machines
Answer: A = 14.02 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 = (8 + 1.5/2)/0.53 = 16.51 kN
Components at A
Ax = T·cos β = 14 kN
Ay = 8 + 1.5 − T·sin β = 0.75 kN
Magnitude
A = √(14² + 0.75²) = 14.02 kN
Answer
A = 14.02 kN
9.Shear force & bending moment
Answer: E (x = 4 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 = 39 kN, R2 = 54 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 = 35, MC = 62, MD = 81, ME = 92 kN·m, MF = 50, MG = 0
Answer
Mark E: ME = 92 kN·m
10.Shear force & bending moment
Answer: F (x = 10 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 = 15 kN, R2 = 85 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 = 20, MC = 20, MD = 0, ME = −40, MF = −100 kN·m, MG = 0
Answer
Mark F: MF = −100 kN·m
11.Centroid & second moment of area
Answer: Ix = 64.71 × 10⁶ mm⁴
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 = (20000·100 − 2827·120)/(20000 − 2827) = 96.71 mm
Full plate about ȳ
100·200³/12 + 20000·3.293² = 66.88 × 10⁶ mm⁴
Hole about ȳ
π·60⁴/64 + 2827·23.29² = 2.17 × 10⁶ mm⁴
Subtract
Ix = 64.71 × 10⁶ mm⁴
Answer
Ix = 64.71 × 10⁶ mm⁴
12.Centroid & second moment of area
Answer: σbottom = 72.43 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 = 300·15 = 4500 mm², yf = 300 + 15/2 = 307.5 mm