ENGINEERING THE HANDBOOK SECOND EDITION The Electrical Engineering Handbook Series Series Editor Richard C. Dorf University of California, Davis Titles Included in the Series The Handbook of Ad Hoc Wireless Networks, Mohammad Ilyas The Avionics Handbook, Cary R. Spitzer The Biomedical Engineering Handbook, Second Edition, Joseph D. Bronzino The Circuits and Filters Handbook, Second Edition, Wai-Kai Chen The Communications Handbook, Second Edition, Jerry Gibson The Computer Engineering Handbook, Vojin G. Oklobdzija The Control Handbook, William S. Levine The CRC Handbook of Engineering Tables, Richard C. Dorf The Digital Signal Processing Handbook, Vijay K. Madisetti and Douglas Williams The Electrical Engineering Handbook, Second Edition, Richard C. Dorf The Electric Power Engineering Handbook, Leo L. Grigsby The Electronics Handbook, Jerry C. Whitaker The Engineering Handbook, Second Edition, Richard C. Dorf The Handbook of Formulas and Tables for Signal Processing, Alexander D. Poularikas The Handbook of Nanoscience, Engineering, and Technology, William A. Goddard, III, Donald W. Brenner, Sergey E. Lyshevski, and Gerald J. Iafrate The Handbook of Optical Communication Networks, Mohammad Ilyas and Hussein T. Mouftah The Industrial Electronics Handbook, J. David Irwin The Measurement, Instrumentation, and Sensors Handbook, John G. Webster The Mechanical Systems Design Handbook, Osita D.I. Nwokah and Yidirim Hurmuzlu The Mechatronics Handbook, Robert H. Bishop The Mobile Communications Handbook, Second Edition, Jerry D. Gibson The Ocean Engineering Handbook, Ferial El-Hawary The RF and Microwave Handbook, Mike Golio The Technology Management Handbook, Richard C. Dorf The Transforms and Applications Handbook, Second Edition, Alexander D. Poularikas The VLSI Handbook, Wai-Kai Chen Forthcoming Titles The Electrical Engineering Handbook, Third Edition, Richard C. Dorf The Electronics Handbook, Second Edition, Jerry C. Whitaker CRC PRESS Editor-in-Chief Richard C. Dorf University of California, Davis ENGINEERING THE HANDBOOK SECOND EDITION Boca Raton London New York Washington, D.C. This book contains information obtained from authentic and highly regarded sources. Reprinted material is quoted with permission, and sources are indicated. A wide variety of references are listed. Reasonable efforts have been made to publish reliable data and information, but the author and the publisher cannot assume responsibility for the validity of all materials or for the consequences of their use. Neither this book nor any part may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopying, microfilming, and recording, or by any information storage or retrieval system, without prior permission in writing from the publisher. All rights reserved. Authorization to photocopy items for internal or personal use, or the personal or internal use of specific clients, may be granted by CRC Press LLC, provided that $1.50 per page photocopied is paid directly to Copyright Clearance Center, 222 Rosewood Drive, Danvers, MA 01923 USA. The fee code for users of the Transactional Reporting Service is ISBN 0-8493-1586-7/05/$0.00+$1.50. The fee is subject to change without notice. For organizations that have been granted a photocopy license by the CCC, a separate system of payment has been arranged. The consent of CRC Press LLC does not extend to copying for general distribution, for promotion, for creating new works, or for resale. Specific permission must be obtained in writing from CRC Press LLC for such copying. Direct all inquiries to CRC Press LLC, 2000 N.W. Corporate Blvd., Boca Raton, Florida 33431. Trademark Notice: Product or corporate names may be trademarks or registered trademarks, and are used only for identification and explanation, without intent to infringe. Visit the CRC Press Web site at www.crcpress.com © 2005 by CRC Press LLC No claim to original U.S. Government works International Standard Book Number 0-8493-1586-7 Library of Congress Card Number 2003069766 Printed in the United States of America 1 2 3 4 5 6 7 8 9 0 Printed on acid-free paper Library of Congress Cataloging-in-Publication Data The engineering handbook / editor-in-chief, Richard C. Dorf. p. cm. Includes bibliographical references and index. ISBN 0-8493-1586-7 (alk. paper) 1. Engineering—Handbooks, manuals, etc. I. Dorf, Richard C. TA151.E424 2004 620—dc22 2003069766 1586_C000.fm Page iv Thursday, May 20, 2004 3:04 PM © 2005 by CRC Press LLC Preface Due to the success of the first edition of The Engineering Handbook published in 1995 I am pleased to provide the second edition ten years later fully updated and expanded. Purpose The purpose of The Engineering Handbook, Second Edition is to provide in a single volume a ready reference for the practicing engineer in industry, government, and academia. The book in its compre- hensive format is divided into 30 sections which encompass the field of engineering and includes 19 brand new chapters and 131 fully updated contributions. The goal is to provide the most up-to-date information in the classical fields that comprise mechanical, electrical, civil, chemical, industrial, and aerospace engineering as well as the underlying fields of mathematics, materials, biomedical engineering, and nanotechnology. This book should serve the information needs of all professional engineers engaged in the practice of the profession whether in industry, education, or government. The goal of this com- prehensive handbook is to replace a myriad of books with one highly informative, well-organized, definitive source of fundamental knowledge. Organization The fundamentals of engineering have evolved to include a wide range of knowledge, substantial empirical data, and a broad range of practice. The focus of the handbook is on the key concepts, models, and equations that enable the engineer to analyze, design, and predict the behavior of complex devices, circuits, instruments, systems, structures, plants, computers, fuels, and the environment. While data and formulae are summarized, the main focus is the provision of the underlying theories and concepts and the appropriate application of these theories to the field of engineering. Thus, the reader will find the key concepts defined, described, and illustrated in order to serve the needs of the engineer over many years. With equal emphasis placed on materials, structures, mechanics, dynamics, fluids, thermodynamics, fuels and energy, transportation, environmental systems, circuits and systems, computers and instru- ments, manufacturing, aeronautical and aerospace, and economics and management as well as mathe- matics, the engineer should encounter a wide range of concepts and considerable depth of exploration of these concepts as they lead to application and design. The level of conceptual development of each topic is challenging, but tutorial and relatively funda- mental. Each of the more than 200 chapters is written to enlighten the expert, refresh the knowledge of the mature engineer, and educate the novice. The information is organized into 30 major sections. The 30 sections encompass 232 chapters, and the Appendix summarizes the applicable mathematics, symbols, and physical constants. Each chapter includes three important and useful categories: defining terms, references, and further information. Defining terms are key definitions, and the first occurrence of each term defined is indicated 1586_C000.fm Page v Thursday, May 20, 2004 3:04 PM © 2005 by CRC Press LLC in boldface in the text. The definitions of these terms are summarized as a list at the end of each chapter. The references provide a list of useful books and articles for follow-up reading. Finally, further information provides some general and useful sources of additional information on the topic. Locating Your Topic Numerous avenues of access to information contained in the handbook are provided. A complete table of contents is presented at the front of the book. In addition, an individual table of contents precedes each of the 30 sections. Finally, each chapter begins with its own table of contents. The reader should look over these tables of contents to become familiar with the structure, organization, and content of the book. The index can also be used to locate key definitions. The page on which the definition appears for each key (defining) term is clearly identified in the index. The Engineering Handbook, Second Edition is designed to provide answers to most inquiries and direct the inquirer to further sources and references. We hope that this handbook will be referred to often and that informational requirements will be satisfied effectively. Acknowledgments This handbook is testimony to the dedication of the associate editors, the publishers, and my editorial associates. I particularly wish to acknowledge at CRC Press Nora Konopka, Publisher; Helena Redshaw, Project Development Manager; Liz Spangenberger, Administrative Assistant; and Susan Fox, Project Editor. Richard C. Dorf Editor-in-Chief 1586_C000.fm Page vi Thursday, May 20, 2004 3:04 PM © 2005 by CRC Press LLC Editor-in-Chief Richard C. Dorf , professor of electrical and computer engineering at the University of California, Davis, teaches graduate and undergraduate courses in electrical engineer- ing in the fields of circuits and control systems. He earned a Ph.D. in electrical engineering from the U.S. Naval Post- graduate School, an M.S. from the University of Colorado, and a B.S. from Clarkson University. Highly concerned with the discipline of engineering and its wide value to social and economic needs, he has written and lectured internationally on the contributions and advances in engi- neering and their value to society. Professor Dorf has extensive experience with education and industry and is professionally active in the fields of robotics, automation, electric circuits, and communica- tions. He has served as a visiting professor at the University of Edinburgh, Scotland; the Massachusetts Institute of Technology; Stanford University; and the University of California, Berkeley. A Fellow of The Institute of Electrical and Electronics Engineers, Dr. Dorf is widely known to the profession for his Modern Control Systems , Tenth Edition (Prentice Hall, 2004) and Introduction to Electric Circuits, Sixth Edition (Wiley, 2004). He is the Editor-in-Chief of the Technology Management Handbook (CRC Press, 1999), the Engineering Handbook, Second Edition (CRC Press, 2004), and CRC Handbook of Engineering Tables (CRC Press, 2004). 1586_C000.fm Page vii Thursday, May 20, 2004 3:04 PM © 2005 by CRC Press LLC Contributors Bruno Agard École Polytechnique de Montréal Montréal, Québec, Canada Ramesh K. Agarwal Wichita State University Wichita, Kansas C. M. Akujobi Prairie View A & M University Prairie View, Texas F. Chris Alley Clemson University (Emeritus) Clemson, South Carolina Willliam Ames Georgia Institute of Technology Atlanta, Georgia Appiah Amirtharajah Georgia Institute of Technology Atlanta, Georgia James Amrhein Consultant Long Beach, California Thalia Anagnos San Jose State University Palo Alto, California Ted L. Anderson Structural Reliability Technology Boulder, Colorado Sandra Arlinghaus The University of Michigan Ann Arbor, Michigan Roger E. A. Arndt University of Minnesota Ham Lake, Minnesota John Attia Prairie View A&M University Prairie View, Texas Tung Au Carnegie Mellon University Pittsburgh, Pennsylvania Robert Austin Austin Communication Education Services Palm Harbor, Florida Bilal M. Ayyub Unversity of Maryland College Park, Maryland A. Terry Bahill University of Arizona Tucson, Arizona Rex T. Baird Silicon Laboratories, Inc. Nashua, New Hampshire Terrence W. Baird Hewlett-Packard Company Boise, Idaho Norman Balabanian University of Florida Gainesville, Florida Partha P. Banerjee University of Dayton Dayton, Ohio Randall Barron Louisiana Tech University Ruston, Lousiana Charles E. Baukal, Jr. John Zink Co. LLC Tulsa, Oklahoma Nelson R. Bauld, Jr. Clemson University Clemson, South Carolina Yildiz Bayazitoglu Rice University Houston, Texas Robert Beaves Robert Morris University Moon Township, Pennsylvania R. R. Beck U.S. Army Tank Automotive Research Development and Engineering Center Warren, Michigan Philip B. Bedient Rice University Houston, Texas 1586_C000.fm Page ix Thursday, May 20, 2004 3:04 PM © 2005 by CRC Press LLC Richard C.Bennett Swenson Process Equipment, Inc. Harvey, Illinois Jim Bethel Purdue University West Lafayette, Indiana Bharat Bhushan Ohio State University Columbus, Ohio Peter J. Biltoft University of California, Lawrence Livermore National Laboratory Livermore, California Stephen Birn Moog Inc. Torrance, California Robert H. Bishop University of Texas Austin, Texas Kenneth B. Black University of Massachusetts, Amherst Amherst, Massachusetts Glenn Blackwell Purdue University West Lafayette, Indiana Benjamin S. Blanchard Virginia Poytechnic Institute and State University Blacksburg, Virginia Robert F. Boehm University of Nevada Las Vegas, Nevada Bruce W. Bomar University of Tennesse Space Institute Tullahoma, Tennessee Charles Borzileri University of California, Lawrence Livermore National Laboratory Livermore, California Ed Braun University of North Carolina Charlotte, North Carolina Donald E. Breyer California State Polytechnic University Pomona, California Robert Broadwater Virginia Polytechnic Institute and State University Blacksburg, Virginia Joseph D. Bronzino Trinity College Hartford, Connecticut George R. Buchanan Tennessee Technological University Cookeville, Tennessee R. Ben Buckner Surveying Education Consultant Johnson City, Tenneesee Michael Buehrer Virginia Polytechnic Institute and State University Blacksburg, Virginia George Cain Georgia Institute of Technology Atlanta, Georgia William L. Chapman Hughes Aircraft Company Tucson, Arizona Som Chattopadhyay Indiana University/Purdue University Fort Wayne, Indiana Shiao-Hung Chiang University of Pittsburgh Pittsburgh, Pennsylvania Tim Chinowsky University of Washington Seattle, Washington Jonathan W. Chipman University of Wisconsin Madison, Wisconsin Tony M. Cigic University of British Columbia Vancouver, British Columbia, Canada Michael D. Ciletti University of Colorado Colorado Springs, Colorado William Cook Iowa State Univerisity Ames, Iowa C. David Cooper University of Central Florida Orlando, Florida William C. Corder CONSOL, Inc. Pittsburgh, Pennsylvania Harold M. Cota California Polytechnic State University San Luis Obispo, California Leon W. Couch II University of Florida Gainesville, Florida Dennis J. Cronin Iowa State Univerisity Ames, Iowa 1586_C000.fm Page x Thursday, May 20, 2004 3:04 PM © 2005 by CRC Press LLC J. B. Cropley Union Carbide Corporate Fellow (Retired) Scott Depot, West Virginia John N. Daigle University of Mississippi University, Mississippi Shilpa Damle Georgia Institute of Technology Atlanta, Georgia Braja M. Das California State University Sacramento, California Kevin A. Delin Jet Propulsion Laboratory Arcadia, California Anca Deliu Georgia Institute of Technology Atlanta, Georgia Bon DeWitt University of Florida Gainesville, Florida Ron Dieck Ron Dieck Associates, Inc. Palm Beach Gardens, Florida Henry Domingos Clarkson University Potsdam, New York John F. Donovan McDonnell Douglas Corporation St. Louis, Missouri Anil Doradla Virginia Polytechnic Institute and State University Blacksburg, Virginia Deepak Doraiswamy National Starch and Chemical Co. Bridgewater, New Jersey Nelson C. Dorny University of Pennsylvania Philadelphia, Pennsylvania Tolga Duman Arizona State University Tempe, Arizona Stephen A. Dyer Kansas State University Manhattan, Kansas Taan ElAli Wilberforce University Wilberforce, Ohio Mohammed M. El-Wakil University of Wisconsin Madison, Wisconsin Halit Eren Polytechnic University Hong Kong Wolter J. Fabrycky Virginia Polytechnic Institute and State University Blacksburg, Virginia James R. Fair University of Texas Austin, Texas Henry O. Fatoyinbo University of Surrey Surrey, U.K. Charles Fazzi Saint Vincent College Latrobe, Pennsylvania Chang-Xue Jack Feng Bradley University Peoria, Illinois H. Scott Fogler University of Michigan Ann Arbor, Michigan Samuel W. Fordyce Consultare Technology Group Rockville, Maryland Wallace T. Fowler University of Texas Austin, Texas A. Keith Furr Virginia Polytechnic Institute and State University (Retired) Blacksburg, Virginia Anish Gaikwad EPRI-PEAC Corporation Knoxville, Tennessee Richard S. Gallegher R. S. Gallegher and Associates Ithaca, New York Pierre Gehlen Seattle University Seattle, Washington James M. Gere Stanford University Stanford, California Peter Gergely Cornell University Ithaca, New York Afshin Ghajar Oklahoma State University Stillwater, Oklahoma 1586_C000.fm Page xi Thursday, May 20, 2004 3:04 PM © 2005 by CRC Press LLC [...]... System • Distributed Loadings 1.2 Equilibrium Equations of Equilibrium • Free-Body Diagram • Support Reactions • Friction • Constraints • Internal Loadings • Numerical Applications Russell C Hibbeler University of Louisiana at Lafayette Statics is a branch of mechanics that deals with the equilibrium of bodies, that is, those that are either at rest or move with constant velocity In order to apply the laws... although the body’s internal effects will be different This effect of sliding a force along its line of action is called the principle of transmissibility If the force acts at point C, which is not along the line of action AB, then both the external and internal effects on the body will change The difference in external effects — notably the difference in the rotation of the body — occurs because of the distance... University Raleigh, North Carolina University of California Davis, California Virginia Polytechnic Institute and State University Blacksburg, Virginia Jerry C Hamann Russell Hibbeler Rolf Johansson University of Wyoming Laramie, Wyoming University of Louisiana at Lafayette Lafayette, Lousiana Lund University Lund, Sweden Simon P Hanson David J Hills Steven D Johnson CONSOL, Inc Pittsburgh, Pennsylvania... Walter Pilkey Muhammad H Rashid Albert Sargent University of Virginia Charlottesville, Virginia University of West Florida Pensacola, Florida Arkansas Power & Light Hot Springs, Arkansas Michael J Piovoso Frances H Raven Nesrin Sarigul-Klijn Penn State University Malvern, Pennsylvania University of Notre Dame South Bend, Indiana University of California Davis, California Greg Placencia Timothy A Reinhold... Air Products and Chemicals, Inc Allentown, Pennsylvania Andrea Serrani Timothy L Skvarenina The Ohio State University Columbus, Ohio Purdue University West Lafayette, Indiana James F Shackelford Montgometry L Smith University of California Davis, California University of Tennesse Tullahoma, Tennessee Sherif A Sherif Rosemary L Smith University of Florida Gainesville, Florida University of California... Pennsylvania L Kitis Fatima H Labeed Earl Livingstone University of Virginia Charlottesville, Virginia University of Surrey Surrey, U.K Babcock and Wilcox Company, Retired Norton, Ohio Joseph F Kmec Richard T Lahey Purdue University West Lafayette, Indiana Rensselaer Polytechnic Institute Troy, New York Edward Knod Lee S Langston Western Illinois University Macomb, Illinois University of Connecticut Storrs,... Rhode Island 1586_C000.fm Page xiii Thursday, May 20, 2004 3:04 PM Waldemar Karwowski Andrew Kusiak K H Lin University of Louisville Louisville, Kentucky University of Iowa Iowa City, Iowa Oak Ridge National Laboratory Knoxville, Tennessee Ralph W Kiefer Benjamin Kyle Noam Lior University of Wisconsin Madison, Wisconsin Kansas State University Manhattan, Kansas University of Pennsylvania Philadelphia,... Authority Atlanta, Georgia Jan F Kreider John B Ligon Kreider and Associates Boulder, Colorado Michigan Technological University Houghton, Michigan National Institute of Standards and Technology Gaithersburg, Maryland Thomas R Kurfess Thomas M Lillesand Bruce R Martin Georgia Institute of Technology Atlanta, Georgia University of Wisconsin Madison, Wisconsin University of California Davis, California... Jr Iowa State Univerisity Ames, Iowa Dykewood Enterprises Stratford, Connecticut Mark L Nagurka Hasan Orbey (Deceased) Michael McCarthy University of California Irvine, California Alan T McDonald Purdue University West Lafayette, Indiana Ross E McKinney Environmental Consultant Chapel Hill, North Carolina Sue McNeil University of Illinois Chicago, Illinois Daniel A Mendelsohn Ohio State University... University Clemson, South Carolina Samiha Mourad M M Ohadi Santa Clara University Santa Clara, California University of Maryland College Park, Maryland Safwat M A Moustafa Vojin G Oklobdzija California Polytechnic University San Luis Obispo, California University of California Davis, California Rias Muhamed James Y Oldshue SBC Laboratories , Inc Austin, Texas Oldshue Technologies International Fairport, . ENGINEERING THE HANDBOOK SECOND EDITION The Electrical Engineering Handbook Series Series Editor Richard C. Dorf University of California, Davis Titles Included in the Series The Handbook. Second Edition, Alexander D. Poularikas The VLSI Handbook, Wai-Kai Chen Forthcoming Titles The Electrical Engineering Handbook, Third Edition, Richard C. Dorf The Electronics Handbook, Second Edition, . Wai-Kai Chen The Communications Handbook, Second Edition, Jerry Gibson The Computer Engineering Handbook, Vojin G. Oklobdzija The Control Handbook, William S. Levine The CRC Handbook of Engineering