STATICS
1 General Principles 3
Chapter Objectives 3
1.1 Mechanics 3
1.2 Fundamental Concepts 4
1.3 Units of Measurement 7
1.4 The International System of Units 9
1.5 Numerical Calculations 10
1.6 General Procedure for Analysis 12
2 Force Vectors 17
Chapter Objectives 17
2.1 Scalars and Vectors 17
2.2 Vector Operations 18
2.3 Vector Addition of Forces 20
2.4 Addition of a System of Coplanar Forces 32
2.5 Cartesian Vectors 43
2.6 Addition of Cartesian Vectors 46
2.7 Position Vectors 56
2.8 Force Vector Directed Along a Line 59
2.9 Dot Product 69
3 Equilibrium of a Particle 85
Chapter Objectives 85
3.1 Condition for the Equilibrium of a
Particle 85
3.2 The Free-Body Diagram 86
3.3 Coplanar Force Systems 89
3.4 Three-Dimensional Force Systems 103
4 Force System
Resultants 117
Chapter Objectives 117
4.1 Moment of a Force—Scalar
Formulation 117
4.2 Cross Product 121
4.3 Moment of a Force—Vector
Formulation 124
4.4 Principle of Moments 128
4.5 Moment of a Force about a
Specified Axis 139
4.6 Moment of a Couple 148
4.7 Simplification of a Force and Couple
System 160
4.8 Further Simplification of a Force and
Couple System 170
4.9 Reduction of a Simple Distributed
Loading 183
5 Equilibrium of a Rigid Body 199
Chapter Objectives 199
5.1 Conditions for Rigid-Body Equilibrium 199
5.2 Free-Body Diagrams 201
5.3 Equations of Equilibrium 214
5.4 Two- and Three-Force Members 224
5.5 Free-Body Diagrams 237
5.6 Equations of Equilibrium 242
5.7 Constraints and Statical Determinacy 243
6 Structural Analysis 263
Chapter Objectives 263
6.1 Simple Trusses 263
6.2 The Method of Joints 266
6.3 Zero-Force Members 272
6.4 The Method of Sections 280
6.5 Space Trusses 290
6.6 Frames and Machines 294
7Internal Forces 329
Chapter Objectives 329
7.1 Internal Forces Developed in Structural
Members 329
7.2 Shear and Moment Equations and
Diagrams 345
7.3 Relations between Distributed Load, Shear,
and Moment 354
7.4 Cables 365
8 Friction 387
Chapter Objectives 387
8.1 Characteristics of Dry Friction 387
8.2 Problems Involving Dry Friction 392
8.3 Wedges 412
8.4 Frictional Forces on Screws 414
8.5 Frictional Forces on Flat Belts 421
8.6 Frictional Forces on Collar Bearings, Pivot
Bearings, and Disks 429
8.7 Frictional Forces on Journal Bearings 432
8.8 Rolling Resistance 434
9 Center of Gravity andCentroid 447
Chapter Objectives 447
9.1 Center of Gravity, Center of Mass, and the
Centroid of a Body 447
9.2 Composite Bodies 470
9.3 Theorems of Pappus and Guldinus 484
9.4 Resultant of a General Distributed
Loading 493
9.5 Fluid Pressure 494
10 Moments of Inertia 511
Chapter Objectives 511
10.1 Definition of Moments of Inertia
for Areas 511
10.2 Parallel-Axis Theorem for an Area 512
10.3 Radius of Gyration of an Area 513
10.4 Moments of Inertia for
Composite Areas 522
10.5 Product of Inertia for an Area 530
10.6 Moments of Inertia for an Area about
Inclined Axes 534
10.7 Mohr’s Circle for Moments of Inertia 537
10.8 Mass Moment of Inertia 545
11 Virtual Work 563
Chapter Objectives 563
11.1 Definition of Work 563
11.2 Principle of Virtual Work 565
11.3 Principle of Virtual Work for a System of
Connected Rigid Bodies 567
11.4 Conservative Forces 579
11.5 Potential Energy 580
11.6 Potential-Energy Criterion for
Equilibrium 582
11.7 Stability of Equilibrium Configuration 583
Appendix
A. Mathematical Review and
Expressions 598
Fundamental Problems
Partial Solutions and
Answers 603
Answers to Selected
Problems 620
Index 650
DYNAMICS
12 Kinematics of a Particle 3
Chapter Objectives 3
12.1 Introduction 3
12.2 Rectilinear Kinematics: Continuous
Motion 5
12.3 Rectilinear Kinematics: Erratic Motion 19
12.4 General Curvilinear Motion 32
12.5 Curvilinear Motion: Rectangular
Components 34
12.6 Motion of a Projectile 39
12.7 Curvilinear Motion: Normal and Tangential
Components 53
12.8 Curvilinear Motion: Cylindrical
Components 67
12.9 Absolute Dependent Motion Analysis of
Two Particles 81
12.10 Relative-Motion of Two Particles Using
Translating Axes 87
13 Kinetics of a Particle: Force and Acceleration 107
Chapter Objectives 107
13.1 Newton’s Second Law of Motion 107
13.2 The Equation of Motion 110
13.3 Equation of Motion for a System of
Particles 112
13.4 Equations of Motion: Rectangular
Coordinates 114
13.5 Equations of Motion: Normal and
Tangential Coordinates 131
13.6 Equations of Motion: Cylindrical
Coordinates 144
*13.7 Central-Force Motion and Space
Mechanics 155
14 Kinetics of a Particle: Work and Energy 169
Chapter Objectives 169
14.1 The Work of a Force 169
14.2 Principle of Work and Energy 174
14.3 Principle of Work and Energy for a System
of Particles 176
14.4 Power and Efficiency 192
14.5 Conservative Forces and Potential
Energy 201
14.6 Conservation of Energy 205
15 Kinetics of a Particle: Impulse and Momentum 221
Chapter Objectives 221
15.1 Principle of Linear Impulse and
Momentum 221
15.2 Principle of Linear Impulse and Momentum
for a System of Particles 228
15.3 Conservation of Linear Momentum for a
System of Particles 236
15.4 Impact 248
15.5 Angular Momentum 262
15.6 Relation Between Moment of a Force and
Angular Momentum 263
15.7 Principle of Angular Impulse and
Momentum 266
15.8 Steady Flow of a Fluid Stream 277
*15.9 Propulsion with Variable Mass 282
Review
1. Kinematics and Kinetics of a Particle 298
16 Planar Kinematics of a Rigid Body 311
Chapter Objectives 311
16.1 Planar Rigid-Body Motion 311
16.2 Translation 313
16.3 Rotation about a Fixed Axis 314
16.4 Absolute Motion Analysis 329
16.5 Relative-Motion Analysis: Velocity 337
16.6 Instantaneous Center of Zero Velocity 351
16.7 Relative-Motion Analysis: Acceleration 363
16.8 Relative-Motion Analysis using Rotating
Axes 377
17 Planar Kinetics of a Rigid Body: Force and Acceleration 395
Chapter Objectives 395
17.1 Moment of Inertia 395
17.2 Planar Kinetic Equations of Motion 409
17.3 Equations of Motion: Translation 412
17.4 Equations of Motion: Rotation about a
Fixed Axis 425
17.5 Equations of Motion: General Plane
Motion 440
18 Planar Kinetics of aRigid Body: Work and Energy 455
Chapter Objectives 455
18.1 Kinetic Energy 455
18.2 The Work of a Force 458
18.3 The Work of a Couple 460
18.4 Principle of Work and Energy 462
18.5 Conservation of Energy 477
19 Planar Kinetics of a RigidBody: Impulse and Momentum 495
Chapter Objectives 495
19.1 Linear and Angular Momentum 495
19.2 Principle of Impulse and Momentum 501
19.3 Conservation of Momentum 517
*19.4 Eccentric Impact 521
Review
2. Planar Kinematics and Kinetics of a Rigid
Body 534
20 Three-Dimensional Kinematics of a Rigid Body 549
Chapter Objectives 549
20.1 Rotation About a Fixed Point 549
*20.2 The Time Derivative of a Vector Measured
from Either a Fixed or Translating-Rotating
System 552
20.3 General Motion 557
*20.4 Relative-Motion Analysis Using Translating
and Rotating Axes 566
21 Three-Dimensional Kinetics of a Rigid Body 579
Chapter Objectives 579
*21.1 Moments and Products of Inertia 579
21.2 Angular Momentum 589
21.3 Kinetic Energy 592
*21.4 Equations of Motion 600
*21.5 Gyroscopic Motion 614
21.6 Torque-Free Motion 620
CONTENTS X I I I
22 Vibrations 631
Chapter Objectives 631
*22.1 Undamped Free Vibration 631
*22.2 Energy Methods 645
*22.3 Undamped Forced Vibration 651
*22.4 Viscous Damped Free Vibration 655
*22.5 Viscous Damped Forced Vibration 658
*22.6 Electrical Circuit Analogs 661
Appendix
A. Mathematical Expressions 670
B. Vector Analysis 672
C. The Chain Rule 677
Fundamental Problems
Partial Solutions and
Answers 679
Answers to Selected
Problems 000
Index 000