CH 03

VECTOR MECHANICS FOR ENGINEERS:
STATICS
Ninth Edition
Ferdinand P. Beer
E. Russell Johnston, Jr.

Lecture Notes:
J. Walt Oler
Texas Tech University
CHAPTER
2010 The McGraw-Hill Companies, Inc. All rights reserved.
3
Rigid Bodies:
Equivalent Systems
of Forces
Vector Mechanics for Engineers: Statics
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Contents
3 - 2
Introduction
External and Internal Forces
Principle of Transmissibility: Equivalent
Forces
Vector Products of Two Vectors
Moment of a Force About a Point
Varigons Theorem
Rectangular Components of the
Moment of a Force
Sample Problem 3.1
Scalar Product of Two Vectors
Scalar Product of Two Vectors:
Applications
Mixed Triple Product of Three Vectors
Moment of a Force About a Given Axis
Sample Problem 3.5
Moment of a Couple
Addition of Couples
Couples Can Be Represented By Vectors
Resolution of a Force Into a Force at O
and a Couple
Sample Problem 3.6
System of Forces: Reduction to a Force
and a Couple
Further Reduction of a System of Forces
Sample Problem 3.8
Sample Problem 3.10
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Introduction
3 - 3
Treatment of a body as a single particle is not always possible. In
general, the size of the body and the specific points of application of the
forces must be considered.
Most bodies in elementary mechanics are assumed to be rigid, i.e., the
actual deformations are small and do not affect the conditions of
equilibrium or motion of the body.
Current chapter describes the effect of forces exerted on a rigid body and
how to replace a given system of forces with a simpler equivalent system.
moment of a force about a point
moment of a force about an axis
moment due to a couple
Any system of forces acting on a rigid body can be replaced by an
equivalent system consisting of one force acting at a given point and one
couple.
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External and Internal Forces
3 - 4
Forces acting on rigid bodies are
divided into two groups:
- External forces
- Internal forces
External forces are shown in a
free-body diagram.
If unopposed, each external force
can impart a motion of
translation or rotation, or both.
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Principle of Transmissibility: Equivalent Forces
3 - 5
Principle of Transmissibility -
Conditions of equilibrium or motion are
not affected by transmitting a force
along its line of action.
NOTE: F and F are equivalent forces.
Moving the point of application of
the force F to the rear bumper
does not affect the motion or the
other forces acting on the truck.
Principle of transmissibility may
not always apply in determining
internal forces and deformations.
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Vector Product of Two Vectors
3 - 6
Concept of the moment of a force about a point is
more easily understood through applications of
the vector product or cross product.
Vector product of two vectors P and Q is defined
as the vector V which satisfies the following
conditions:
1. Line of action of V is perpendicular to plane
containing P and Q.
2. Magnitude of V is
3. Direction of V is obtained from the right-hand
rule.
u sin Q P V =
Vector products:
- are not commutative,
- are distributive,
- are not associative,
( ) Q P P Q =
( )
2 1 2 1
Q P Q P Q Q P + = +
( ) ( ) S Q P S Q P =
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Vector Products: Rectangular Components
3 - 7
Vector products of Cartesian unit vectors,
0
0
0
= = =
= = =
= = =
k k i k j j k i
i j k j j k j i
j i k k i j i i

Vector products in terms of rectangular
coordinates
( ) ( ) k Q j Q i Q k P j P i P V
z y x z y x

+ + + + =
( ) ( )
( )k Q P Q P
j Q P Q P i Q P Q P
x y y x
z x x z y z z y

+
+ =
z y x
z y x
Q Q Q
P P P
k j i

=
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3 - 8
A force vector is defined by its magnitude and
direction. Its effect on the rigid body also depends
on it point of application.
The moment of F about O is defined as
F r M
O
=
The moment vector M
O
is perpendicular to the
plane containing O and the force F.
Any force F that has the same magnitude and
direction as F, is equivalent if it also has the same line
of action and therefore, produces the same moment.
Magnitude of M
O
measures the tendency of the force
to cause rotation of the body about an axis along M
O
.
The sense of the moment may be determined by the
right-hand rule.

Fd rF M
O
= = u sin
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3 - 9
Two-dimensional structures have length and breadth but
negligible depth and are subjected to forces contained in
the plane of the structure.
The plane of the structure contains the point O and the
force F. M
O
, the moment of the force about O is
perpendicular to the plane.
If the force tends to rotate the structure clockwise, the
sense of the moment vector is out of the plane of the
structure and the magnitude of the moment is positive.
If the force tends to rotate the structure counterclockwise,
the sense of the moment vector is into the plane of the
structure and the magnitude of the moment is negative.
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Varignons Theorem
3 - 10
The moment about a give point O of the
resultant of several concurrent forces is equal
to the sum of the moments of the various
moments about the same point O.
Varigons Theorem makes it possible to
replace the direct determination of the
moment of a force F by the moments of two
or more component forces of F.
( )
+ + = + +
2 1 2 1
F r F r F F r
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Rectangular Components of the Moment of a Force
3 - 11
( ) ( ) ( )k yF xF j xF zF i zF yF
F F F
z y x
k j i
k M j M i M M
x y z x y z
z y x
z y x O

+ + =
=
+ + =
The moment of F about O,
k F j F i F F
k z j y i x r F r M
z y x
O

+ + =
+ + = = ,
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3 - 12
The moment of F about B,
F r M
B A B

=
/
( ) ( ) ( )
k F j F i F F
k z z j y y i x x
r r r
z y x
B A B A B A
B A B A

+ + =
+ + =
=
/
( ) ( ) ( )
z y x
B A B A B A B
F F F
z z y y x x
k j i
M =

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3 - 13
For two-dimensional structures,
( )
z y
Z O
z y O
yF xF
M M
k yF xF M
=
=
=

( ) ( ) | |
( ) ( )
z B A y B A
Z O
z B A y B A O
F y y F x x
M M
k F y y F x x M
=
=
=

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Sample Problem 3.1
3 - 14
A 100-lb vertical force is applied to the end of a
lever which is attached to a shaft at O.
Determine:
a) moment about O,
b) horizontal force at A which creates the same
moment,
c) smallest force at A which produces the same
moment,
d) location for a 240-lb vertical force to produce
the same moment,
e) whether any of the forces from b, c, and d is
equivalent to the original force.
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Sample Problem 3.1
3 - 15
a) Moment about O is equal to the product of the
force and the perpendicular distance between the
line of action of the force and O. Since the force
tends to rotate the lever clockwise, the moment
vector is into the plane of the paper.
( )
( )( ) in. 12 lb 100
in. 12 60 cos in. 24
=
= =
=
O
O
M
d
Fd M
in lb 1200 =
O
M
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Sample Problem 3.1
3 - 16
c) Horizontal force at A that produces the same
moment,
( )
( )
in. 8 . 20
in. lb 1200
in. 8 . 20 in. lb 1200
in. 8 . 20 60 sin in. 24
=
=
=
= =
F
F
Fd M
d
O
lb 7 . 57 = F
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Sample Problem 3.1
3 - 17
c) The smallest force A to produce the same moment
occurs when the perpendicular distance is a
maximum or when F is perpendicular to OA.
( )
in. 4 2
in. lb 1200
in. 4 2 in. lb 1200
=
=
=
F
F
Fd M
O
lb 50 = F
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Sample Problem 3.1
3 - 18
d) To determine the point of application of a 240 lb
force to produce the same moment,
( )
in. 5 cos60
in. 5
lb 40 2
in. lb 1200
lb 240 in. lb 1200
=
=
=
=
=
OB
d
d
Fd M
O
in. 10 = OB
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Sample Problem 3.1
3 - 19
e) Although each of the forces in parts b), c), and d)
produces the same moment as the 100 lb force, none
are of the same magnitude and sense, or on the same
line of action. None of the forces is equivalent to the
100 lb force.
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Sample Problem 3.4
3 - 20
The rectangular plate is supported by
the brackets at A and B and by a wire
CD. Knowing that the tension in the
wire is 200 N, determine the moment
about A of the force exerted by the
wire at C.
SOLUTION:
The moment M
A
of the force F exerted
by the wire is obtained by evaluating
the vector product,
F r M
A C A

=
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Sample Problem 3.4
3 - 21
SOLUTION:
128 96 120
08 . 0 0 3 . 0

=
k j i
M
A
( ) ( ) ( )k j i M
A

m N 8.8 2 m N 8.8 2 m N 68 . 7 + + =
( ) ( ) j i r r r
A C A C

m 08 . 0 m 3 . 0 + = =
F r M
A C A

=
( )
( )
( ) ( ) ( )
( ) ( ) ( )k j i
k j i
r
r
F F
D C
D C

N 128 N 6 9 N 120
m 5 . 0
m 32 . 0 m 0.24 m 3 . 0
N 200
N 200
+ =
+
=
= =
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Scalar Product of Two Vectors
3 - 22
The scalar product or dot product between
two vectors P and Q is defined as
( ) result scalar cosu PQ Q P = -

Scalar products:
- are commutative,
- are distributive,
- are not associative,
P Q Q P

- = -
( )
2 1 2 1
Q P Q P Q Q P

- + - = + -
( ) undefined = - - S Q P

Scalar products with Cartesian unit components,
0 0 0 1 1 1 = - = - = - = - = - = - i k k j j i k k j j i i

( ) ( ) k Q j Q i Q k P j P i P Q P
z y x z y x

+ + - + + = -
2 2 2 2
P P P P P P
Q P Q P Q P Q P
z y x
z z y y x x
= + + = -
+ + = -

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Scalar Product of Two Vectors: Applications
3 - 23
Angle between two vectors:
PQ
Q P Q P Q P
Q P Q P Q P PQ Q P
z z y y x x
z z y y x x
+ +
=
+ + = = -
u
u
cos
cos

Projection of a vector on a given axis:
OL
OL
P P
Q
Q P
PQ Q P
OL P P P
= =
-
= -
= =
u
u
u
cos
cos
along of projection cos

z z y y x x
OL
P P P
P P
u u u
cos cos cos + + =

- =

For an axis defined by a unit vector:
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Mixed Triple Product of Three Vectors
3 - 24
Mixed triple product of three vectors,
( ) result scalar = - Q P S

The six mixed triple products formed from S, P, and
Q have equal magnitudes but not the same sign,
( ) ( ) ( )
( ) ( ) ( ) S P Q Q S P P Q S
P S Q S Q P Q P S

- = - = - =
- = - = -
( ) ( ) ( )
( )
z y x
z y x
z y x
x y y x z
z x x z y y z z y x
Q Q Q
P P P
S S S
Q P Q P S
Q P Q P S Q P Q P S Q P S
=
+
+ = -

Evaluating the mixed triple product,
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3 - 25
Moment M
O
of a force F applied at the point A
about a point O,
F r M
O

=
Scalar moment M
OL
about an axis OL is the
projection of the moment vector M
O
onto the
axis,

( ) F r M M
O OL

- = - =
Moments of F about the coordinate axes,
x y z
z x y
y z x
yF xF M
xF zF M
zF yF M
=
=
=
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3 - 26
Moment of a force about an arbitrary axis,
( )
B A B A
B A
B BL
r r r
F r
M M

=
- =
- =
The result is independent of the point B

along the given axis.
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Sample Problem 3.5
3 - 27
a) about A
b) about the edge AB and
c) about the diagonal AG of the cube.
d) Determine the perpendicular distance
between AG and FC.
A cube is acted on by a force P as
shown. Determine the moment of P
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Sample Problem 3.5
3 - 28
Moment of P about A,
( )
( ) ( )
( ) ( ) j i P j i a M
j i P j i P P
j i a j a i a r
P r M
A
A F
A F A

+ =
+ = + =
= =
=
2
2 2 2
( )( ) k j i aP M
A

+ + = 2
Moment of P about AB,
( )( ) k j i aP i
M i M
A AB

+ + - =
- =
2
2 aP M
AB
=
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Sample Problem 3.5
3 - 29
Moment of P about the diagonal AG,
( )
( )
( ) ( )
( ) 1 1 1
6
2 3
1
2
3
1
3
=
+ + - =
+ + =
=

= =
- =
aP
k j i
aP
k j i M
k j i
aP
M
k j i
a
k a j a i a
r
r
M M
AG
A
G A
G A
A AG
6
aP
M
AG
=
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Sample Problem 3.5
3 - 30
Perpendicular distance between AG and FC,
( ) ( ) ( )
0
1 1 0
6 3
1
2
=
+ = - = -
P
k j i k j
P
P

Therefore, P is perpendicular to AG.

Pd
aP
M
AG
= =
6
6
a
d =
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Moment of a Couple
3 - 31
Two forces F and -F having the same magnitude,
parallel lines of action, and opposite sense are said
to form a couple.
Moment of the couple,
( )
( )
Fd rF M
F r
F r r
F r F r M
B A
B A
= =
=
=
+ =
u sin
The moment vector of the couple is

independent of the choice of the origin of the
coordinate axes, i.e., it is a free vector that can
be applied at any point with the same effect.
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Moment of a Couple
3 - 32
Two couples will have equal moments if

2 2 1 1
d F d F =
the two couples lie in parallel planes, and
the two couples have the same sense or
the tendency to cause rotation in the same
direction.
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Addition of Couples
3 - 33
Consider two intersecting planes P
1
and
P
2
with each containing a couple
2 2 2
1 1 1
plane in
plane in
P F r M
P F r M
=
=
Resultants of the vectors also form a
couple
( )
2 1
F F r R r M

+ = =
By Varigons theorem
2 1
2 1
M M
F r F r M

+ =
+ =
Sum of two couples is also a couple that is equal
to the vector sum of the two couples
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Couples Can Be Represented by Vectors
3 - 34
A couple can be represented by a vector with magnitude
and direction equal to the moment of the couple.
Couple vectors obey the law of addition of vectors.
Couple vectors are free vectors, i.e., the point of application
is not significant.
Couple vectors may be resolved into component vectors.
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Resolution of a Force Into a Force at O and a Couple
3 - 35
Force vector F can not be simply moved to O without modifying its
action on the body.
Attaching equal and opposite force vectors at O produces no net
effect on the body.
The three forces may be replaced by an equivalent force vector and
couple vector, i.e, a force-couple system.
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Resolution of a Force Into a Force at O and a Couple
3 - 36
Moving F from A to a different point O requires the
addition of a different couple vector M
O

F r M
O

'
=
'
The moments of F about O and O are related,
( )
F s M
F s F r F s r F r M
O
O
+ =
+ = + = = '
'
Moving the force-couple system from O to O requires the
addition of the moment of the force at O about O.
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Sample Problem 3.6
3 - 37
Determine the components of the
single couple equivalent to the
couples shown.
SOLUTION:
Attach equal and opposite 20 lb forces in
the +x direction at A, thereby producing 3
couples for which the moment components
are easily computed.
Alternatively, compute the sum of the
moments of the four forces about an
arbitrary single point. The point D is a
good choice as only two of the forces will
produce non-zero moment contributions..
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Sample Problem 3.6
3 - 38
Attach equal and opposite 20 lb forces in
the +x direction at A
The three couples may be represented by
three couple vectors,
( )( )
( )( )
( )( ) in. lb 180 in. 9 lb 20
in. lb 240 in. 12 lb 20
in. lb 540 in. 18 lb 30
+ = + =
+ = + =
= =
z
y
x
M
M
M
( ) ( )
( )k
j i M

in. lb 180
in. lb 240 in. lb 540
+
+ =
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Sample Problem 3.6
3 - 39
Alternatively, compute the sum of the
moments of the four forces about D.
Only the forces at C and E contribute to
the moment about D.
( ) ( )
( ) ( ) | | ( )i k j
k j M M
D

lb 20 in. 12 in. 9
lb 30 in. 18
+
= =
( ) ( )
( )k
j i M

in. lb 180
in. lb 240 in. lb 540
+
+ =
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System of Forces: Reduction to a Force and Couple
3 - 40
A system of forces may be replaced by a collection of
force-couple systems acting a given point O
The force and couple vectors may be combined into a
resultant force vector and a resultant couple vector,
( )

= = F r M F R
R
O

The force-couple system at O may be moved to O
with the addition of the moment of R about O ,
R s M M
R
O
R
O

+ =
'
Two systems of forces are equivalent if they can be
reduced to the same force-couple system.
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3 - 41
If the resultant force and couple at O are mutually
perpendicular, they can be replaced by a single force acting
along a new line of action.
The resultant force-couple system for a system of forces
will be mutually perpendicular if:
1) the forces are concurrent,
2) the forces are coplanar, or
3) the forces are parallel.
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3 - 42
System of coplanar forces is reduced to a
force-couple system that is
mutually perpendicular.
R
O
M R

and
System can be reduced to a single force
by moving the line of action of until
its moment about O becomes
R
O
M
In terms of rectangular coordinates,

R
O x y
M yR xR =
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Sample Problem 3.8
3 - 43
For the beam, reduce the system of
forces shown to (a) an equivalent
force-couple system at A, (b) an
equivalent force couple system at B,
and (c) a single force or resultant.
Note: Since the support reactions are
not included, the given system will
not maintain the beam in equilibrium.
SOLUTION:
a) Compute the resultant force for the
forces shown and the resultant
couple for the moments of the
forces about A.
b) Find an equivalent force-couple
system at B based on the force-
couple system at A.
c) Determine the point of application
for the resultant force such that its
moment about A is equal to the
resultant couple at A.
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Sample Problem 3.8
3 - 44
SOLUTION:
a) Compute the resultant force and the
resultant couple at A.
( ) ( ) ( ) ( ) j j j j
F R

N 250 N 100 N 600 N 150 + =
=

( ) j R

N 600 =
( )
( ) ( ) ( ) ( )
( ) ( ) j i
j i j i
F r M
R
A

250 8 . 4
100 8 . 2 600 6 . 1
+
+ =
=

( )k M
R
A

m N 1880 =
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Sample Problem 3.8
3 - 45
b) Find an equivalent force-couple system at B
based on the force-couple system at A.
The force is unchanged by the movement of the
force-couple system from A to B.
( ) j R

N 600 =
The couple at B is equal to the moment about B
of the force-couple system found at A.
( ) ( ) ( )
( ) ( )k k
j i k
R r M M
A B
R
A
R
B

m N 2880 m N 1880
N 600 m 8 . 4 m N 1880
+ =
+ =
+ =
( )k M
R
B

m N 1000 + =
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Sample Problem 3.10
3 - 46
Three cables are attached to the
bracket as shown. Replace the
forces with an equivalent force-
couple system at A.
SOLUTION:
Determine the relative position vectors
for the points of application of the
cable forces with respect to A.
Resolve the forces into rectangular
components.
Compute the equivalent force,
= F R

Compute the equivalent couple,
( )
= F r M
R
A


N
i
n
t
h

E
d
i
t
i
o
n

Sample Problem 3.10
3 - 47
SOLUTION:
Determine the relative position
vectors with respect to A.
( )
( )
( ) m 100 . 0 100 . 0
m 050 . 0 075 . 0
m 050 . 0 075 . 0
j i r
k i r
k i r
A D
A C
A B

=
=
+ =
Resolve the forces into rectangular
components.
( )
( ) N 200 600 300
289 . 0 857 . 0 429 . 0
175
50 150 75
N 700
k j i F
k j i
k j i
r
r
F
B
B E
B E
B

+ =
+ =
+
= =
=
( )( )
( ) N 1039 600
30 cos 60 cos N 1200
j i
j i F
D

+ =
+ =
( )( )
( ) N 707 707
45 cos 45 cos N 1000
j i
j i F
C

=
=
N
i
n
t
h

E
d
i
t
i
o
n

Sample Problem 3.10
3 - 48
Compute the equivalent force,
( )
( )
( )k
j
i
F R

707 200
1039 600
600 707 300
+
+ +
+ + =
=

( ) N 507 439 1607 k j i R

+ =
Compute the equivalent couple,
( )
k
k j i
F r
j
k j i
F r
k i
k j i
F r
F r M
D A D
c A C
B A B
R
A
9 . 163
0 1039 600
0 100 . 0 100 . 0
68 . 17
707 0 707
050 . 0 0 075 . 0
45 30
200 600 300
050 . 0 0 075 . 0
= =
=
=
=
=
=

k j i M
R
A

9 . 118 68 . 17 30 + + =

CH 03

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CH 03

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VECTOR MECHANICS FOR ENGINEERS:

2010 The McGraw-Hill Companies, Inc. All rights reserved.

cos cos cos + + =

The result is independent of the point B

Therefore, P is perpendicular to AG.

The moment vector of the couple is

In terms of rectangular coordinates,

2010 The McGraw-Hill Companies, Inc. All rights reserved.

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