Dynamics of

Machinery

Static Force
Analysis
Introduction
Dr. Tarek
Elmelegy
Text
• Robert Norton, "Design of machinery: an introduction to the
synthesis and analysis of mechanisms and machines", sixth
edition,NY: McGraw Hill, ISBN: 1260113310 (2020)
• Charles E. Wilson and J. Peter Sadler, "Kinematics and
Dynamics of Machinery, SI Third Edition", Prentice Hall, ISBN:
9780131866416 (2005)
Contact
• Dr. Tarek Ali Elmelegy
• [email protected]
• CR-A-05
• Eng. Hesham Aboelanin
• [email protected]
• TBA
Assessment

Weekly Plan
Contents
◼ Introduction & Assumptions
◼ Joints induced internal forces
◼ Forces in static equilibrium
 A UNIT VECTOR
For a vector A with a magnitude of A, an
unit vector is defined as UA = A / A .

Characteristics of a unit vector:

a) Its magnitude is 1.
b) It is dimensionless.
c) It points in the same direction as the original
vector (A).

The unit vectors in the Cartesian axis

system are i, j, and k. They are unit
vectors along the positive x, y, and z axes
respectively.

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 3-D CARTESIAN VECTOR
TERMINOLOGY
Consider a box with sides AX, AY,
and AZ meters long.

The vector A can be defined as

A = (AX i + AY j + AZ k) m

The projection of the vector A in the x-y plane is A´. The

magnitude of this projection, A´, is found by using the same
approach as a 2-D vector: A´ = (AX2 + AY2)1/2 .

The magnitude of the position vector A can now be obtained as

A = ((A´)2 + A 2) ½ = (A 2 + A 2 + A 2) ½
Z X Y Z 4
 3-D CARTESIAN VECTOR TERMINOLOGY

The direction or orientation of vector A is defined

by the angles , , and .

These angles are measured between the vector

and the positive X, Y and Z axes, respectively.
Their range of values are from 0° to 180°

Using trigonometry, “direction cosines” are found using the formulas

These angles are not independent. They must satisfy the following equation.
cos ²  + cos ²  + cos ²  = 1

This result can be derived from the definition of a coordinate direction

angles and the unit vector. Recall, the formula for finding the unit vector
of any position vector:

or written another way, u A = cos  i + cos  j + cos  k . 5

ADDITION/SUBTRACTION OF VECTORS
Once individual vectors are written in Cartesian form, it is
easy to add or subtract them. The process is essentially the
same as when 2-D vectors are added.
For example, if
A = AX i + AY j + AZ k and
B = BX i + BY j + BZ k , then

A + B = (AX + BX) i + (AY + BY) j + (AZ + BZ) k

or

A – B = (AX - BX) i + (AY - BY) j + (AZ - BZ) k .

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 IMPORTANT NOTES

Sometimes 3-D vector information is given as:

a) Magnitude and the coordinate direction angles, or
b) Magnitude and projection angles.

You should be able to use both these types of information to

change the representation of the vector into the Cartesian
form, i.e.,

F = {10 i – 20 j + 30 k} N .

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 EXAMPLE 1 Given: Two forces F and G are
applied to a hook. Force F is
shown in the figure and it
makes 60° angle with the X-Y
G plane. Force G is pointing up
and has a magnitude of 80 lb
with  = 111° and  = 69.3°.
Find: The resultant force in the
Cartesian vector form.
Plan:

1) Using geometry and trigonometry, write F and G in the

Cartesian vector form.
2) Then add the two forces.
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 EXAMPLE 1– Cont’d
Solution : First, resolve force F.

Fz = 100 sin 60° = 86.60 lb

F' = 100 cos 60° = 50.00 lb
Fx = 50 cos 45° = 35.36 lb
Fy = 50 sin 45° = 35.36 lb

Now, you can write:

F = {35.36 i – 35.36 j + 86.60 k} lb

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 EXAMPLE 1– Cont’d
Now resolve force G.
We are given only  and . Hence, first we need to find the value of
.
Recall the formula cos ² () + cos ² () + cos ² () = 1.
Now substitute what we know. We have
cos ² (111°) + cos ² (69.3°) + cos ² () = 1.
Solving, we get  = 30.22° or 120.2°. Since the vector is pointing up,
 = 30.22°

Now using the coordinate direction angles, we can get UG, and
determine G = 80 UG lb.
G = {80 ( cos (111°) i + cos (69.3°) j + cos (30.22°) k )} lb
G = {- 28.67 i + 28.28 j + 69.13 k } lb

Now, R = F + G or
R = {6.69 i – 7.08 j + 156 k} lb 10
Example 2 Given: The screw eye is subjected
to two forces.
Find: The magnitude and the
coordinate direction angles
of the resultant force.

Plan:

1) Using the geometry and trigonometry, write F1 and F2 in

the Cartesian vector form.
2) Add F1 and F2 to get FR .
3) Determine the magnitude and , ,  .
13
Example 2– Cont’d
F1z
First resolve the force F1 .
F1z = 300 sin 60° = 259.8 N
F´
F´ = 300 cos 60° = 150.0 N

F’ can be further resolved as,

F1x = -150 sin 45° = -106.1 N
F1y = 150 cos 45° = 106.1 N

Now we can write :

F1 = {-106.1 i + 106.1 j + 259.8 k } N

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Example 2– Cont’d
The force F2 can be represented in
the Cartesian vector form as:
F2 = 500{ cos 60° i + cos 45° j +
cos 120° k } N
= { 250 i + 353.6 j – 250 k } N

FR = F1 + F2
= { 143.9 i + 459.6 j + 9.81 k } N

FR = (143.9 2 + 459.6 2 + 9.81 2) ½ = 481.7 = 482 N

 = cos-1 (FRx / FR) = cos-1 (143.9/481.7) = 72.6°
 = cos-1 (FRy / FR) = cos-1 (459.6/481.7) = 17.4°
 = cos-1 (FRz / FR) = cos-1 (9.81/481.7) = 88.8°
15
COPLANAR FORCE SYSTEMS
This is an example of a 2-D or
coplanar force system. If the whole
assembly is in equilibrium, then
particle A is also in equilibrium.

To determine the tensions in the

cables for a given weight of the
engine, we need to learn how to
draw a free body diagram and apply
equations of equilibrium.

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 THE WHAT, WHY AND HOW OF A
FREE BODY DIAGRAM (FBD)
Free Body Diagrams are one of the most important things for
you to know how to draw and use.

What ? - It is a drawing that

shows all external forces acting
on the particle.

Why ? - It helps you write the

equations of equilibrium used to
solve for the unknowns (usually
forces or angles).

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 THE WHAT, WHY AND HOW OF A
FREE BODY DIAGRAM (FBD)
How ?
1. Imagine the particle to be isolated or cut free from its
surroundings.
2. Show all the forces that act on the particle.
Active forces: They want to move the particle.
Reactive forces: They tend to resist the motion.
3. Identify each force and show all known magnitudes and
directions. Show all unknown magnitudes and / or
directions as variables .

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Note : Engine mass = 250 Kg FBD at A
 EQUATIONS OF 2-D EQUILIBRIUM

• Since particle A is in equilibrium, the net force at A

• is zero.
A
• So FAB + FAC + FAD = 0
• or F = 0 FBD at A

In general, for a particle in equilibrium,  F = 0 or

Fx i + Fy j = 0 = 0 i + 0 j (A vector equation)

Or, written in a scalar form,

Fx = 0 and  Fy = 0
These are two scalar equations of equilibrium (EofE). They can be used to
solve for up to two unknowns.

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 MOMENT OF A FORCE - SCALAR
FORMULATION

The moment of a force about a point provides a measure of the tendency for
rotation (sometimes called a torque).

20
 MOMENT OF A FORCE - SCALAR
FORMULATION
In the 2-D case, the magnitude of the moment is Mo = F d

As shown, d is the perpendicular distance from point O to the line of action of the
force.

In 2-D, the direction of MO is either clockwise or

counter-clockwise depending on the tendency for rotation.

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 MOMENT OF A FORCE - SCALAR
FORMULATION
F
a For example, M O = F d and the
b direction is counter-clockwise.
O
d

Often it is easier to determine MO by using the components of F as shown.

Fy F

Fx
b a
O

Using this approach, MO = (FY a) – (FX b). Note the different signs on the terms!
The typical sign convention for a moment in 2-D is that counter-clockwise is
considered positive. We can determine the direction of rotation by imagining
the body pinned at O and deciding which way the body would rotate because of
the force. 22
 CROSS PRODUCT

In general, the cross product of two vectors A and B results in another vector C , i.e.,
C = A  B. The magnitude and direction of the resulting vector can be written as
C = A  B = A B sin  UC
Here UC is the unit vector perpendicular to both A and B vectors as shown (or to the
plane containing the A and B vectors).

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 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 itself is zero, e.g., i  i = 0

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 CROSS PRODUCT
A x B = - B x A.
( A x B) = ( A) x B = A x ( B)
A x (B + C) = A x B + A x C

25
 CROSS PRODUCT

Of even more utility, the cross product can be written as

Each component can be determined using 2  2 determinants.

26
 MOMENT OF A FORCE – VECTOR
FORMULATION

Moments in 3-D can be calculated using scalar (2-D) approach but

it can be difficult and time consuming. Thus, it is often easier to
use a mathematical approach called the vector cross product.
Using the vector cross product, MO = r  F .
Here r is the position vector from point O to any point on the line of action of F.
27
EXAMPLE # 3
Given: a = 3 in, b = 6 in and c = 2 in.
Find: Moment of F about point O.

Plan:
o
1) Find rOA.

2) Determine MO = r  F
OA .

Solution rOA = {3 i + 6 j – 0 k} in

MO = i j k = [{6(-1) – 0(2)} i – {3(-1) – 0(3)} j + {3(2) –

3 6 0 6(3)} k] lb·in
3 2 -1 = {-6 i + 3 j – 12 k} lb·in

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Assumptions in Static Analysis
◼ Inertia forces can be neglected if their
magnitudes are small compared to applied
loads,
◼ Machine elements are treated as rigid links,
no deformation,
◼ Friction at joints can be neglected if
lubrication or bearings are used
 Joints Induced Internal
Forces
◼ Revolute
◼ Constrained in translation
◼ Free in rotation

3
2

F23

F32
2 3
 Joints Induced Internal Forces

◼ Prismatic
◼ Constrained in rotation + 1 translation direction
(normal to the tangent surface)
◼ Free in 1 translation (tangent to the surface)

2 F21
M1

1 M2
F12
 Joints Induced Internal
Forces
◼ Higher pair
◼ Constrained in 1 translation (normal to common
tangent)
◼ Free in rotation and in translation (tangent
direction)

3 F32
2
F23
 Forces in Static Equilibrium
F1 F2
◼ 3 Forces (or more)
F2
◼ Concurrent F1

◼ Vector sum is zero

F3
F3

(a) The three forces on the member do not intersect at a common point, and there is a
net resultant moment. (b) The three forces intersect at the same point P, called the
concurrency point, and the net moment is zero.
Forces in Static Equilibrium
◼ 2 Forces (special case of the 3 forces)
◼ Concurrent
◼ Vector sum is zero
◼ Equal in magnitude
◼ Opposite in direction

F23

F43
3
Forces in Static Equilibrium
◼ Moments and couples
◼ Sum is zero

F1

M1 - d.F1 =
d
0
M1

F1
Forces in Static Equilibrium
◼ Solution of Static Equilibrium
◼ Graphical Techniques
◼ Analytical Techniques