Fundamental Equations of Statics

Cartesian Vector

Equilibrium

A = Axi + Ay j + Azk

Particle
Fx = 0, Fy = 0, Fz = 0

Magnitude
A =
Directions

2Ax2

Ay2

A 2z

Rigid Body-Two Dimensions

Fx = 0, Fy = 0, MO = 0

Ay

Az
Ax
A
=
i +
j +
k
A
A
A
A
= cos ai + cos bj + cos gk

uA =

Rigid Body-Three Dimensions

Fx = 0, Fy = 0, Fz = 0
Mx = 0, My = 0, Mz = 0

cos2 a + cos2 b + cos2 g = 1

Dot Product

A # B = AB cos u
= A x Bx + A y By + A z Bz

Cross Product

Friction
Fs = ms N
Fk = mk N

Static (maximum)
Kinetic
Center of Gravity

i
C = A ! B = Ax
Bx

j
Ay
By

k
Az
Bz

Cartesian Position Vector

Particles or Discrete Parts

r =
Body

r = 1x2 - x12i + 1 y2 - y12j + 1z2 - z12k

Cartesian Force Vector

r
F = Fu = F a b
r

Moment of a Force

i
Mo = Fd
M o = r : F = rx
Fx

'
r W
W

j
ry
Fy

r =

dW

Area and Mass Moments of Inertia

k
rz
Fz

Moment of a Force About a Specified Axis

ux uy uz
#
Ma = u r ! F = rx ry
rz
Fx Fy Fz

I =

r 2 dA

I =

r 2 dm

Parallel-Axis Theorem
I = I + Ad 2

I = I + md 2

Radius of Gyration
k =

Simplification of a Force and Couple System

FR = F
1M R2O = M + M O

'
r dW

Virtual Work

I
BA

k =

dU = 0

I
Bm