Chapter 4-Force System Resultants

F = 0 was the only condition for the equilibrium of a In Chap. 2 we showed that particle. Now, what about a rigid body?

F
F = 0 is a necessary condition, but not in equilibrium. The body rotates. So but not sufficient. There is a Torque or Moment on the body. This is what will be discussed in this chapter. F =0 ,

4.2 Cross Product (Vector Product) The cross product of 2 vectors P and

Q is

defined as the vector V which satisfies:

Q.

1). The line of action ofV is perpendicular to the plane containing P and 2). The magnitude of V is given by: V = PQsin ( 0 180 ) 3).The direction of V follows the right-hand rule.
V = P Q

V = P Q read

as "V equals P cross Q"

Laws of Operation Communicative law

P Q Q P ( note : P Q = Q P )

Multiplication by a Scalar

a A B = aA B = A ( aB ) = ( A B ) a

) ( )

Distributive law

P (Q1 + Q2 ) = P Q1 + P Q2

Associative Law

( P Q ) S P (Q S )

Cartesian Vector Formulation j ? What is i

j

k
j = (1)(1)sin90 = 1 Magnitude: i Direction: +k
=0 i i i j =k = i k j = j i k j j =0 =i j k

= k i j k j = i k =0 k

Here is a simple way of remembering this.

k i

+ Now we will express V of

V = P Q in the terms of rectangular ) (Q i ) + Py +Q y V = P Q =( Px i j +Pz k j +Q z k x

components

Using the distributive and scalar mult. properties.

) +P Q ( i ) +Px Q y (i k ) +Py Q y ( V = Px Q x (i j ) +Px Q z (i j i j j) y x ) +P Q (k i k ) ) +Pz Q y ( k +Py Q z ( j k j ) +Pz Q z ( k z x

) + P Q ( ) +0 + P Q (i ) + Pz Q x ( ) +0 V = 0 + Px Q y (k j ) + Py Q x ( k j ) + Pz Q y ( i x z y z +( Pz Q x Px Q z ) V = ( Py Q z Pz Q y )i j +( Px Q y Py Q x ) k

Vx

Vy

Vz

The vector product can be more easily memorized.

i V = Px Qx j Py Qy k Pz Qz

Does everyone remember how to do determinants?

i th term j
th

Py Q z Q y Pz = Py Q z Pz Q y ( Px Q z Q x Pz ) = Pz Q x Px Qz Px Q y Q x Py = Px Q y Py Q x

term

Same as V x V y V z

k th term

4.1 Moment of a force-scalar formulation Def: Moment - The measure of the tendency of the force to make a rigid body rotate about a point or fixed axis.
F
MO

A- Point of application of F Def: TheMoment of F about O is defined as:

M O = r F

O d

r A

The direction of M o is also defined as the direction which would bring r in line with F right hand rule. Note: r is a vector from O to any point on the line of action of F . From the definition of a cross product
M 0 = rF sin M 0 = Fr sin

From our diagram , r sin = d, so

M 0 = Fd

Units: N-m, ft-lbs, in-lbs

Where d represents the perpendicular from O to the line of action of F . d is commonly known as the moment arm. 4.3 Moment of a force- vector formulation
Remember: M O = r F

We also know: Thus,

+ry r =rx i j +rz k +F y F = Fx i j +Fz k

i M 0 = rx Fx

j ry Fy

k rz Fz

Again, use vectors in 3D!! Resultant moment of a system of forces

M RO = ( r F )

1). Given A 24" 60o

O

100 lb

Find: a). Moment of the 100 lb force about O. b). Magnitude of a horizontal force applied at A which create the same moment about O. c). The smallest force applied at A which creates the same moment about O. d). Distance from O a 240 lb vertical force must act to create the same moment about O. A a). 24"
MO
60

100

M O = Fd = 100( 24 cos 60 ) M O = 1200 in lbs

-----------O
60

b). L
MO
60

30

24

M O = Fd

2 Ways 1) Components
M 0 = Pperp d =>1200 = P cos 30 ( 24)

P=57.7 lbs 2) Perpendicular line to force

M O = Pl => 1200 = P ( 24 cos 30 )

P=57.7 lbs

A c).
MO

24
60

O
M O = Fd 1200 = P ( 24) P = 50 lbs

Why is P perpendicular to the lever? -P is smallest when d in M=Fd is a maximum. This occurs when P is perpendicular to the lever. -If P is not perpendicular to the lever, we have components parallel and perpendicular to the lever, thus the parallel component is "robbing" the perpendicular component of some force which could contribute to creating the moment.

d). B
MO

A 240
60

M O = Fd 1200 = 240( d cos 60 ) d =10 in

2). Given: The rectangular platform is hinged at A and B and supported by a cable which passes over a frictionless hook at E. The tension in the cable is 1349N.
y E 0.9 m 2.3 m

A B C z D 2.25 m

1.5 m x

Find: Moment about the coordinate axes of the force exerted by the cable at C.
3-D use: M O = rOC FC
+ rOC =0i 0 j +2.25k
+ FC = 426i 710 j 1065k

+ (1.5 0) (0.9 0)i j + (0 2.25)k FC = FC u CE = 1349 2 2 2 0 . 9 + 1 . 5 + 2 . 25

i MO = 0 426 j 0 710 k 2.25 1065

3) =0 + 0+ 2.25( 1) ( 2 + [710i 426 j]

+959 M O = 1598i j +0k

Nm

M x = 1598 Nm M y = 959 Nm M z = 0 Nm
Note: M O = rOE FC could have been used also.
i M O = 0.9 426
M O M O

j 1.5 710

k 0 1065

1 2 ] + ] = 0.9( 1) 2 + [ 1065 j 710k 1.5( 1) 2 + [ 1065i 426 k

+ = 959 j + 639 k 1598i 639 k + = 1598 i 959 j + 0k Nm