2 Force Systems

Force, Moment, Couple and

Resultants

1
 Force Definition F F

Force is a vector quantity (why?)

Force is the action of one body on another. [Statics]

Force is an action that tends to cause acceleration of an object.

[Dynamics]
The SI unit of force magnitude is the newton (N).
One Newton is equivalent to one kilogram-meter per second
squared (kgm/s2 or kgm s 2)
Examples of mechanical force include the thrust of a rocket
engine, the impetus that causes a car to speed up when you step on
the accelerator, and the pull of gravity on your body.

Force can result from the action of electric fields, magnetic

fields, and various other phenomena.

3
 FORCE SYSTEMS

Force is a vector F
Line of action is a straight
line colinear with the force

Force System:
concurrent if the lines of
FA
action intersect at a point

parallel if the lines of action
FB are parallel
y

coplanar if the lines of action
FC FD lie on the same plane
x
pararell coplaner ? 4
Writing Convention
Hand Print
Scalar F

Vector
F F F

i
Unit Vector same
i symbol

Magnitude of
Vector F F F F

In this course, you have to

write in this convention.
Recommended Style
i i
 FORCE SYSTEMS

Vector (2D&3D)
Basic Concept

2-D Force Systems 3-D Force Systems

Moment Moment
Couple Couple
Resultants Resultants

7
Free Vectors: associated with Magnitude and Direction
Representation V V1 V2 (V V1 V2 )
parallelogram
Magnitude: Vector :
V2 V
| V | or V V or V V2
: Direction V1
V1

V
W aV V2

W | W | a | V |
V (a 0) V1 triangle
M
| M | b | V | (b 0)
AB B A
A A e Ae
V V1 V2 V2 + A (B C ) ( A B) C
=V1 ( 1)V2 V2 a(bA) (ab)A A
eA
V1 (a b)A aA bA A

a( A B ) aA aB (unit vector of A)
8
Vector
Operation Addition #5
Commutative R AB B A

9
Vector
Operation Addition #6
Associative R A B C ( A B) C A (B C )

10
 wrt = with respect to
Operation Scalar Multiplication #2

a(bA) (ab)A associative

(a b)A aA bA distributive wrt scalar addition
a( A B ) aA aB distributive wrt vector addition

A A e Ae

e unit vector of A
11
Vector
Component Resolution of a Vector

| A | ? | B | ?

A vector may be resolved

into two components.

R AB
13
Basic relations of Triangle
(C/6, law of cosine, sine)

Law of cosine
a c a b 2ab cos
2 2 2

c Law of sine
b
a b c

sin sin sin
14
 2

Hint
V2 V a



1

V1 c
b
Given V, and , find V1,V2
Law of cosine

V1 ___ (Law of sine) c2 a2 b2 2ab cos

V2 ___ (Law of sine)

Law of sine
a b c

sin sin sin
15
 Vector Component and Projection

b F1 , F2 : vector components of R

R (along axis a and b)
F1 F2 R

F2
Fb F1 a Fa : projections of R

Fa Fb (onto axis a and b)

Fa Fb R (generally)

b
special case: = R

projection vectors are

Fb
orthogonal to each other Fa
a

Fa , Fb : orthogonal projections & vector components 16
Rectangular Componentsi j vector component = vector projection
Most commonly used
Fx F cos
y

j Fy F sin
F
Fy F Fx2 Fy2

i
x
Fx tan1 | Fy / Fx |

Fx , Fy vector components of F
F Fx Fy (in x and y directions )

F Fx i Fy j Fx , Fy scalar components of F
(in x and y directions )
17
 Fx=? Fy=? y
Fy F cos(p )
F F ( cos )
F p
F cos
x minus
(>90)

x Fx F sin(p )
= F sin
y Fx F cos

Fy F sin F

x y


F

y Fx F cos Fy F cos( )

Fy F sin Fx F sin( )
x 18
 EXAMPLE 2-1

Given the magnitude of the tension

in the cable, T = 9 kN, express T in
terms of unit vector i and j

AB 102 62 11.662 m

T (9 cos ) i (9 sin ) j

y 10 6
9 i 9 j
T 11.662 11.662
j 3 S.F. 7.72 i 4.63 j Correct?

7.7 i 4.6 j kN ANS

x
i 19
We are using robot arm to put the cylindrical part into a hole.
Determine the components of the force which the cylindrical part exerts on the
robot along axes (a) parallel and perpendicular to arm AB
(b) parallel and perpendicular to arm BC
15 par 15
30 per

60 Defining
direction

45 per 30
par
15 15
P = 90 N P = 90 N
arm AB Pper P cos 45 90cos 45 63.64 N ( )
Ppar P sin45 90sin45 63.64 N ( ) ANS

arm BC Ppar P cos30 9cos30 7.794 N ( )

Pper P sin30 9sin30 4.5N ( ) ANS
20
 2/2 Combine the two forces P and T, which act on the fixed structure
at B, into a single equivalent force R
Graphics P=800 N (8cm)

R T=600 N (6cm)

R 525 N (5.25cm) 49o

Geometric R 2 P 2 T 2 2 PT cos R 524 N

6sin 60o P
tan1
40.9o T R
3 6cos60 o
48.6o
sin sin
R T

Vector Component (Algebraic) R 3462 (393)2 524 N

393
P 800i T 600(cos i sin j ) tan 1 48.6o Correct?
346
R P T 346i 393 j Point of application is B
21
 Example Hibbeler Ex 2-1 #1
Determine the magnitude and direction of the resultant force.

Two forces is not acting

at the same point.

1 2 cos
FR F12 F22 2FF
213 N
Geometric
F2 F 150 212.55
R
sin sin sin sin115
39.101 39.1 22
 Geometric Vector Component (Algebraic)

Good?
(get full score?)

- more explanation
- mark answer
- 5S.F. Then 3S.F. direction of i , j ?

1 2 cos
FR F12 F22 2FF F1 100cos15i 100sin15 j N
213 N F 150sin100 i 150cos10o j N
2

F2 F 150 212.55
R FR F F1 F2 122.64i 173.60 j N
sin sin sin sin115
39.101 39.1 tan1
FRy
tan1
173.60
54.761
FRx 122.64
23
Good Answer Sheet Geometric

Using the law of cosine:

O
1 2 cos
FR F F 2FF
2 2
1 2

1002 1502 2(100)(150)cos115

FR 212.55 213 N #

Applying the law of sine:

F2 F 150 212.55
R
sin sin sin sin115
39.101 39.1 #

24
Point of Application

25
Vector
Example Hibbeler Ex 2-6 #1

F1 (600cos30i 600 sin30 j) N

F ( 400 sin 45i 400cos 45 j) N
2

26
Vector

Example Hibbeler Ex 2-6 #2

FR F1 F2
FR (600cos30i 600sin30 j) ( 400sin45i 400cos 45 j )
F 236.77i 582.84j N
R

FR 236.772 582.842
629.10 629 N #
tan1(FRy FRx ) tan1(582.84 236.77)
67.891 67.9 #

27
 R2 F12 F22 2 F1F2 cos
Reference axis (very very important) R

F2
Many problems do not come with ref. axis. sin sin( )

Assignment based on convenience/experience Originally pass

through O
Vector summation (addition) y
Three ways to be mastered
F2y F1 F2
1. Graphically F1y

Ry R
2. Geometrically
3. Vector component o x
(algebraically) F1x F2x

R F1 F2 ( F1xi F1 y j ) ( F2 xi F2 y j ) Rx

Rxi Ry j ( F1x F2 x )i ( F1 y F2 y ) j The calculations do not reveal the

point of application of the resultant

Rx F1x F2 x Fx
force.
In case where forces do not apply at the same
Ry F1y F2 y Fy point of application, you have to find it too!
28
 Recommended Problem
2/9, H2-17, 2/12, 2/26, H2-28

29
Three Dimensional Coordinate System
y

j Real-life Coordinate System is 3D.

Introduce rule for defining the 3rd axis

z
- right-hand rule: x-y-z
k
i x - for consistency in math calculation
(cross vector)
How does 2D differs from 3D?
y 2D

z
x 31
Rectangular Components (3D) projection & component

z
j y Fx F cos( x )
k Fy F cos( y )
Fy j F
z nF Fz F cos( z )
Fz k y F Fx2 Fy2 Fz2
x
F Fxi Fy j Fz k
Fxi nF

i F F (cos xi cos y j cos z k)

x

- cos(x), cos(y), cos(z) : directional cosines of F (maybe +/-)
def
- cos2(x)+cos2(y)+cos2(z) =1 nF cos xi cos y j cos z k

nF is a unit vector in the direction of F
- If you known the magnitude and all directional cosines, you can write
force in the form of i j k directional cosine Method 32
Example Hibbeler Ex 2-8
Find Cartesian components of F
cos2 x cos2 y cos2 z 1

cos2 cos2 60 cos2 45 1

1
cos2
4
1 1
cos cos
2 2
1
cos1( ) 60 or 120
2
z F F cos x i F cosy j F coszk
x
(200cos 60i 200cos 60 j 200cos 45k) N
(100i 100 j 141.42k) N
y F (100i 100 j 141k) N #
33

Given the cable tension T = 2 kN. Write the vector expression of T
1) directional cosine method
z
B
y

Real
directional
x cosine

x
T T (cos x i cos y j cos z k ) B directionl
cosine = -0.92
1.2
cos x
length of AB x
A

length of AB 1.22 0.52 (0.4 0.3)2 1.3 cos x 0.92

34
z B
B
y

y y
A
A
0.5 0.5
cos y 0.38
z x length of AB 1.3
B
y
B

z z
A
A
0.1 0.1
cos z 0.08
x length of AB 1.3

Thus, T 2 ( 0.92 i 0.38 j 0.08 k ) kN ANS

35
 Directional Cosines by Graphics

Az
A Ay cos z
cos x x cosy A
A A

cos2(x)+cos2(y)+cos2(z) = 1 36
 - Usually, the direction of force is not given using the directional
cosines. Need some calculation.
- Two examples
(a) Two points on the line of action of force is given (F also given).

rAB rB rA
z
rA x1i y1 j z1k
F B (x2, y2, z2) Position
vector
Two-Point

Method A (x1, y1, z1) r x i y j z k
B 2 2 2

y rAB ( x2 x1 )i ( y2 y1 ) j ( z2 z1 )k

( x2 x1 )i ( y2 y1 ) j ( z2 z1 )k
x F F nF n AB
( x2 x1 )2 ( y2 y1 )2 ( z2 z1 )2

( x2 x1 )i ( y2 y1 ) j ( z2 z1 )k
FF
( x2 x1 ) 2 ( y2 y1 ) 2 ( z2 z1 ) 2
37
 z
0.5
2) 2-point construction B 0.4 y
rAB

F F nF A
0.3
1.2 x

A ( x1, y1, z1 (1.2,0,0.3

B ( x2 , y2 , z2 ( 0,0.5,0.4

F FnF F
rAB
F
( x2 x1 i ( y2 y1 j ( z2 z1 k
rAB ( x2 x1 2 ( y2 y1 2 ( z2 z1 2

( 0.0 1.2 i ( 0.5 0.0 j ( 0.4 0.3 k

F 2
( 0.0 1.2 2 ( 0.5 0.02 ( 0.4 0.32
(
F 2 0.92i 0.38 j 0.08k kN
Ans 38

Write vector expression of T . Also determine angle x, y, z, of T
with respect to positive x, y and z axes
Consider: T as force of tension acting on the bar

T T n

where n = unit vector from B to A

4i 7.5 j 5k

4 2 (7.5) 2 5 2

0.41i 0.76 j 0.51k

Thus

T 10 ( 0.41i 0.76 j 0.51k ) kN

cosx 0.41
x 66
cos y 0.76 y 139 ANS
cos z 0.51 z 59
39
Vector
Example Hibbeler Ex 2-9 #1
Determine the
magnitude and the
coordinate direction
angles of the resultant
force acting on the
ring

FR F F1 F2 (60 j 80k ) (50i 100 j 100k )

(50i 40 j 180k ) lb
FR 502 (40)2 1802 lb 191.05 191 lb #
40
Vector
Example Hibbeler Ex 2-9 #2

uFR FR FR
50 40 180
i j k
191.05 191.05 191.05
0.26171i 0.20937 j 0.94216k
cos uFR x 0.26171 74.8
cos uFR y 0.20937 102
cos uFR z 0.94216 19.6 #
41
Vector
Example Hibbeler Ex 2-11 #1

Specify the coordinate

direction angles of F2 so
that the resultant FR
acts along the positive y
axis and has a
magnitude of 800 N.

FR (800 j) N

F1 F1 cos x1i F1 cos y 1 j F1 cosz1k

(300cos 45i 300cos 60 j 300cos120k ) N
(212.13i 150 j 150k ) N
F2 F2 x i F2 y j F2z k
42
Vector
Example Hibbeler Ex 2-11 #2

FR F1 F2
800 j 212.13i 150 j 150k F2 x i F2 y j F2z k
800 j (212.13 F2x )i (150 F2 y ) j ( 150 F2z )k
43
Vector
Example Hibbeler Ex 2-11 #3

x dir. 0 212.13 F2 x
y dir. 800 150 F2 y
z dir. 0 150 F2z
F2 x 212 N
F2 y 650 N
F2z 150 N #

x dir. 212.13 700cos 2 2 108

y dir. 650 700cos 2 2 21.8
z dir. 0 700cos 2 2 77.6 #
44
Force
Example Hibbeler Ex 2-15 #1

The roof is supported by cables as shown. If the cables exert

forces FAB = 100 N and FAC = 120 N on the wall hook at A as
shown, determine the magnitude of the resultant force acting at A.

45
Force
Example Hibbeler Ex 2-15 #2

rAB (4 0)i (0 0) j (0 4)k m 4i 4k m

rAB 42 ( 4)2 5.6569 m

rAB
FAB 100 N ( )
rAB
4 4
100( i k )
5.6568 5.6568
FAB (70.711i 70.711k ) N

46
Force
Example Hibbeler Ex 2-15 #3

rAC (4 0)i (2 0) j (0 4)k m 4i 2 j 4k m

rAC 42 22 ( 4)2 6 m

rAC
FAC 120 N ( )
rAC
4 2 4
120( i j k )
6 6 6
FAC (80i 40 j 80k ) N

47
Force
Example Hibbeler Ex 2-15 #4

FR FAB FAC
(70.711i 70.711k ) N
(80i 40 j 80k ) N
(150.711i 40 j 150.711k ) N
FR (150.711)2 (40)2 (150.711)2 N
216.86 217 N #

48
(b) Two Angles orienting the line of action of force are given (, )
Othorgonal
projection Method
Resolve into two components at a time
z
j y
k
Fz = F sin()


Fz F
Fy Fxy = F cos()


Fxy

Fx Fx = Fxy cos() = F cos() cos()
i x
Fy = Fxy sin() = F cos() sin()

49
 z
Fz

F
50o F
Fx 65o y
y
x
Fxy

Fz F sin 50o 3.83 kN

Fxy F cos50o 3.21 kN

Fx Fxy cos65o 1.36 kN

Fy Fxy sin65o 2.91 kN

F Fx i Fy j Fz k
1.36i 2.91 j 3.83k kN Ans
50
 10
CAB tan 1 81.5o
1.5

z B
TAB
C A 15o

y T
TZ x

Tz T sin 15o 207 N

TAB T cos15o 773N
Ty TAB cos81.5o 115 N
Tx TAB sin 81.5o 764 N

T Tx i Ty j Tz k
764i 115 j 207k N Ans

51
2/110 A force F is applied to the surface of the sphere as shown.
The 2 angles (zeta, phi) locate Point P, and point M is the
midpoint of ON. Express F in vector form, using the given
x-,y- z-coordinates.

52
Recommended Problems
3D Rectangular Component:
2/99 2/100 2/107 2/110

53
Vector
Operation Products

1. Dot Products AB

2. Cross Products AB

3. Mixed Triple Products A (B C )

55
scalar product P Q PQ cos

P


Q
i j j i 0
k j
i k k i 0
i i j j k k 1 j k k j 0
i
(unit vector) ( three orthogonal vector )

A B ( Ax i Ay j Az k) (Bx i By j Bzk)
Example :
Ax i Bx i Ax i By j Ax i Bz k
P 2i 3 j 4k
Ay j Bx i Ay j By j Ay j Bz k Q 4i 2 j 5k
Az k Bx i Az k By j Az k Bz k
P Q ?
A B Ax Bx Ay By Az Bz PQ ?
56
Application of Dot Operation P Q PQ cos

Angle between two vectors P Q

cos 1

Componentizing Vector | P || Q |
Example :
U U U// U U 2i 3 j 4k
U //
e U // (e U ) e
e
3
(
1
i j k

U
U = U (e U ) e U// ,U ?
which direction?

T (T e)e T
e
(T e)e

57
 z
Fz

F
50o F
Fx 65o y
y
x
Fxy

Fz F sin 50o 3.83 kN

Fxy F cos50o 3.21 kN

Fx Fxy cos65o 1.36 kN

Fy Fxy sin65o 2.91 kN

F Fx i Fy j Fz k
1.36i 2.91 j 3.83k kN Ans
58
 10
CAB tan 1 81.5o
1.5

z B
TAB
C A 15o

y T
TZ x

T Tx i Ty j Tz k
764i 115 j 207k N
which direction??

T (T e)e
e

(T e)e Txz 764i 207k

Ans
Txz Tx Tz 791.55 N
2 2
59
Cross Product of Vectors
A B
magnitude : B
AB sin C=A B AB 2
1 (
AB
)

A
right-hand rule
(A then B) e
def
= ( | A| | B |sin ) e C

line which are

perpendicular
with both vectors

60
Operation Cross Product Laws of Operations
A B ? B A
C AB
A B B A
?

Commutative Law is not valid B B

AB B A (B A) ? A A
(
( B) A ?
AB B A B ( A) ?

Associative wrt scalar multiplication B A C

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

Distributive wrt vector addition

A (B C ) ( A B) ( A C )
61
 x-y-z complies with right-hand rule

y
j i j k i
j k i +
z
k j
k
i x k i j

i i j j k k 0

62
How to calculate cross product

U U x iU y j Uz k V V x iV y j Vz k

U V (U x iU y j Uz k) (V x iV y j Vz k)

U V (i i) U V (i j ) U V (i k)
x x x y x z
U V ( j i) U V ( j j ) U V ( j k)
y x y y y z
U V (k i) U V (k j ) U V (k k)
z x z y z z

U V (U y VzUz V y)i (U x V zU z V x) j
(U x V yU y V x)k
This term can be written in a determinant form
63
 Cross Product
- - -
i j k i j k i j
U V U x U y U z Ux U y Uz Ux U y
Vx Vy Vz Vx Vy Vz Vx Vy
+ + +

U V (U y VzUz V y)i (Uz V xU x Vz) j (U x V yU y V x)k

64
Why cross product?

Mathematical Representation
of Moments, Torque

B A
Perpendicular Direction nOABC
B A

Area Calculation
z
A C

y
A

B
O
B
Area = A? B

65
 Mixed Triple Product
i j k
U (V W ) (U x i Uy j Uz k ) Vx Vy Vz
Wx Wy Wz
(U x i Uy j Uz k )
(VyWz VzWy )i (VxWz VzWx ) j (VxWy VyWz )k

U (V W ) Ux (VyWz VzWy ) Uy (VxWz VzWx ) Uz (VxWy VyWz )

U x U y Uz U x Uy Uz Wx Wy Wz
U (V W ) Vx Vy Vz Wx Wy Wz U x Uy Uz
Wx Wy Wz Vx Vy Vz Vx Vy Vz

U (V W ) W (U V ) V (W U ) 66

Why mixed triple product? n
M O ,F M o,F , F

Mathematical Representation

r
of Moments along the axis. O

Volume Calculation

Volume : C ( B A)
A
C nOABC C ( B A)
B Volume must always +

67
Vector
Operation Product Summary

Dot Product Scalar

Cross Product Vector

Mixed Triple Product Scalar

68
69
 Homepage URLs
Statics official HP
http://www.lecturer.eng.chula.ac.th/fmekmn/
(User: Prince Password: Caspian)

Session 1 HP
http://pioneer.netserv.chula.ac.th/~lsawat/course/statics/

http://blackboard.it.chula.ac.th/
(after the end of registration period)

72
 FORCE SYSTEMS

Vector
Basic Concept

2-D Force Systems 3-D Force Systems

Moment Moment
Couple Couple
Resultants Resultants

73
 Force Definition F F

Force is a vector quantity (why?)

Force is the action of one body on another. [Statics]

Force is an action that tends to cause acceleration of an object.

[Dynamics]
The SI unit of force magnitude is the newton (N).
One newton is equivalent to one kilogram-meter per second squared
(kgm/s2 or kgm s 2)

Examples of mechanical force include the thrust of a rocket engine, the impetus
that causes a car to speed up when you step on the accelerator, and the pull of
gravity on your body.

Force can result from the action of electric fields, magnetic

fields, and various other phenomena.
74
Force
Force Representation
Use different colours in diagrams
Vector quantity Body outline blue
Magnitude Load red
Direction Miscellaneous black
Point of application (dimension, angle, etc.)

F
10 N

75
 Type of Forces

Applied force
F F External force
Reactive force
Force
Stress
Internal force
Strain

Contact force Concentrated

Force Force

Body force Distributed

76
Force
Cables & Springs

k spring constant

T
T
s
Cable in tension

F ks
F
77
 2/2 Combine the two forces P and T, which act on the fixed structure
at B, into a single equivalent force R
P=800 N (8cm)
Graphical
R T=600 N (6cm)

R 525 N (5.25cm) 49o

Geometric R 524 N
R 2 P 2 T 2 2 PT cos

6sin 60o P
tan1
40.9o T R
3 6cos60 o
48.6o
sin sin
R T
Algebraic
R P T 346i 393 j R 3462 (393)2 524 N

P 800i tan 1
393
48.6o
346
T 600(cos i sin j )
Correct? Point of application is B 78
 How to add sliding vectors (forces)?
F2

F2 R R F1 F2
Principle of
Transmissibility R is applied at
A point A
F1 F1
A
Point of application

Not OK. ! Still OK.

Point of Application R
is wrong

A F1 F1 F2
A

R
79
 Special case: Addition of Parallel Sliding Force
F
F F F
F1 F F
F2 F1 F2 F1 F2 F2
F1 R2
R1

Point of application line of

action
R2
R1 R

R2 R1 R
R

This graphical method can be used to find Line of action

The better and efficient way will be discussed later, when we

learn the concept of moment, couple, and resultant force
 y T
Ty

Move all forces to 60 Tx

that concurrent point x
VD1
T1 200i 346 j N
T1x T1 cos60o 200 N
T1 y T1 sin60o 346 N

T2 400i N

R T1 T2 600i 346 j N

R Rx2 Ry2 693 N

Point of application, 346
But no physical meaning tan 1 =29.97o
600

Application Point Ans 81

 How to add sliding vectors (forces)?
F2
F2 R R F1 F2

R is applied at
A F1 point A
F1
A
Point of application

There is better way to find the point of application

(or line of action), but you have to learn the concept of
moment and couples first.

82
 Moment
In addition to the tendency to move a body, force
may also tend to rotate a body about an axis
(magnitude)
From experience (experiment) summation
magnitude depends only on F and d
M Fd
M Fd
i i
i

Direction moment
axis

Moment is a vector
84
 z
Moment Definition
Moment is a vector quantity. (MO )z
Magnitude O
y
Direction
Axis of Rotation dy
x Fx
The unit of moment is Nm
The moment-arm d (perpendicular distance)
The right-hand rule
determined by vector cross product
Sign convention: 2D +k or CCW is positive.
Moment of a force or torque

85
Mathematical Definition (3D) from A to point of application of the force

Moment about point A : M A,F r F

F
M -Magnitude: | r || F | sin Fd

X -Direction: right-hand rule
r
A -Point of application: point A
d (Unit: newton-meters, N-m)
r F

F

2D
- 2D, need sign convention and be MFd
consistent; e.g. + for counter-
clockwise and for clockwise
d
+
86
 can be used with
Varignons Theorem (Principle of Moment) more than
2 components
M r F1 r F2
*
O
Same?
Yes ! (
r F1 r F2 r F1 F2
M r (F1 F2 )
**
O r F

The moment of a force about any point is equal to the sum of

the moments of the components of the force about that point
sum of moment (of each force) = moment of sum (of all force)

Fy F
Useful with rectangular components
Fx
d2
Mo = -Fxd2+Fyd1 y O d1
+ x
87
Principle of Transmissibility & Moment
Principle of Transmissibility is based on
position vector:
the fact that
from A to any point on
moving force along the line of action
line of action of the force.
causes no effect in changing moment

O

F convenient
M
M r F
X
r
A rAX F rAY F
d Y
Z - direction: same
- magnitude:

O Sliding force M = Fr sin = Fd

has the same moment
88
Sample 2/5 Calculate the magnitude of the moment about
2m A
the base point O of 600N force in five different ways. 400
2m 4m 600N
A d
400 y

x O
600N
4m Solution I: 2D Scalar Approach Solution II: 3D Vector Approach
d 4 cos 40o 2 sin 40o MO r F
4.35m
( (
2i 4 j 600 cos40o i sin 40o j
M O F d 600 4.35
2610k N-m
O 2610 N-m Ans
CW or CCW? CW
Correct? CW 89
 B F1
2m F1
A F2
400
F2 600N 2m A 400
4m d1
4m 600N

O C F1
O
d2 F2
Solution III: Varignons theorem
+ Solution IV: Transmissibility Solution V: Transmissibility
F1 600 cos40o 460 N
d1 4 2 tan 40o 5.68m d2 2 4 cot 40o 6.77 m
F2 600 sin 40o 386 N
MO Fd MO F2d2 2610 N-m (CW)
1 1 2610 N-m (CW)
MO 460(4) 386(2)

2610 N-m (CW) 90

 EXAMPLE 2.8
In raising the flagpole, the tension T in the cable must supply a
Moment about O of 72 kN-m. Determine T.

25.981
tan 1 43.898
12 15 30sin 60
30 m 25.981m
d
o 60

12 m 15 m

72 Td T (12)sin 43.898

T 8.65 kN ANS
91
Moment
Example Hibbeler Ex 4-7 #1
Determine the moment of the force
about point O.

F (400 sin30i 400cos30 j) N

(200i 346.41j ) N

Correct? i , j ?
92
Moment
Example Hibbeler Ex 4-7 #2
3D Vector Approach

i j k
MO r F 0.4 0.2 0 N-m
r 200 346.41 0
0.4 0.2
k N-m
200 346.41
98.564k 98.6k N m Ans

F (400 sin30i 400cos30 j) N

Scalar Approach (Varignons theorem)
(200i 346.41j ) N
MO 400 sin 30(0.2) 400 cos 30(0.4)
40 138.56 98.564 N m
r (0.4i 0.2 j) m
MO 98.6k N m #
93
 Couple
- Couple is a summed moment produced by
two force of equal magnitude but opposite in
d direction. M = F(a+d) Fa = Fd
a
magnitude does not depend on distance a (point O),
i.e. any point on the body has the same magnitude.
F
F Couple Fd Effect of Pure Rotation
+ O
- tendency to rotate the whole object.
- no effect on moving object as translation.

2D representations: (Couples)

C
C C

couple is a free vector 94

 Force-couple systems
- Line of action of a force on a body may be changed if a couple is
added to compensated for the change in the tendency to rotate of
that body.
C ? C rBA F
No changes in net external effect

B F F
B F B
d

F C
F
A A A

Principle of transmissibility Force-couple system

The direction and magnitude of Force can not be changed, only line of action
(i.e. only change to other pararell line)

Procedure may be reversed to combine a force with a couple

96
 C r F B B F
r
from new location (B) C
to old location (A) A F A

B B F
C
A F A

No Moment:
F
Principle of Transmissibility
A A
Principle of Transmissibility B B
is based on the fact that
moving force along
F
the line of action causes no effect in changing moment
97
 Why using equivalent system?

B F
B

A

F C

Principle of transmissibility Force-couple system

All force systems are equal.
real (physical)
system In the viewpoint of Mechanics,
Result of force to these systems
are equal

M

equivalent system equivalent system 98
 Understanding Force-Couple system
Moment about point B of force F
= tendency of force F to rotate the object at point B
couple occurs when moving Force F from A to B
( couple occurs when moving Force F parallel to
its line of action to the point B)
0
Equivalent System

M A, F 0 B
F
M A rAB F C
B

M B ,F rBA F D

F D
C
MB C
A A
M D ,F rDA F M D rDB F C

99
 Be careful of the
direction of moment

70m
P F
12m
P F
Vector Diagram
CW CCW
F 12 P 70
3600 70 P

P 51.42 kN Ans

100
2/11 Replace the force F by an equivalent force-couple system at point O.

F 50 kN 50 kN
y 20

0.25 m
10
250 mm. 0.1m

25
50 kN x
M
20 Couple occurred when moving F to O
= Moment of F about O

+ M o F cos 20 (0.1cos 25 0.25cos10 )

F sin 20o (0.1sin 25o 0.25sin10o )
17.3 N-m CCW Correct?
F 17.1i 46.9 j kN Ans 101
Engine number 3 fails. Determine the force-couple system on the
body about point o.

Moving all 3 forces to point O

Fy (direction: left)

o R F 90 90 90 270 kN
couples occuring when moving forces.

y sum of moments?
x Mo 90 (21) 90 (12) 90 (21)

R 1080 kN m (CW) ANS

Sum of couples
M
Got the meaning?
102
Resultant
Example Hibbeler Ex 4-14 #1
Replace the current system by
an equivalent resultant force
and couple moment acting A.

FRx Fx
FRx 100 400cos 45
FRx 382.84 N
FRy Fy
FRy 600 400 sin 45
FRy 882.84 N

103
Resultant
Example Hibbeler Ex 4-14 #2

F F 2 F 2
R Rx Ry

FR ( 382.84)2 ( 882.84)2
FR 962.27 962 N #

FRy 882.84
tan 1 1
tan
FRx 382.84
66.556 66.6 #

MRA MA
MRA 100(0) 600(0.4) 400sin45(0.8) 400cos 45(0.3)
MRA 551.13 551 N m #
104
 b cos20

exactly cancelled b
D 300 b cos 20 o 60
20o

300N b 0.213 m Ans

60 N-m
105
 2/6 Simplest Resultant
Resultant of many forces-couple is the simplest force-couple combination
which can replace the original forces/couples without changing the external
effects on the body they act on

F1
F3 y
y
F2 F2
F2 y
F3
R

Ry F1 R
R1 F1 y

F3
x
Point of application F1x F2 x F3 x
Rx
-Add two at a time get
line of action of R R F1 F2 F3 ... F Rx Fx , Ry Fy

-Add many do not get line R ( Fx ) 2 ( Fy ) 2 tan 1 ( Ry / Rx )

of action of R 107
 Easier way to get a resultant + its location

F1
arbitrary F1 R F
F1d1
F2
d1 O O F2
O
d2
d3 F3
F2d2 Mo=(Fidi)
F3d3
F3
1) Pick a point (easy to find 2) Replace each force with a force 3) Add forces and moments
moment arms) at point O + a couple

R (forces + couples : same procedures)

d=Mo/R 2D any forces + couples system resultant

O
single-force system (no-couple)
Mo=Rd
or single-couple system where

R 0
4) Replace force-couple system 3D any forces + couples system
with a single force single-force + special single-couple (wrench)
108
2/87 Determine the resultant and its line of action of the
following three loads. why?
Move 3 forces to point O,
Sums their force and couples

O R
M
Note: M depends
on the location
where we move
(force-couple system) the force to

M = -2.4*0.2cos20 -1.5*0.12cos20
Note: R is the
-3.6*0.3cos20 kN-m
same regardless
with the location R = ( 2.4cos20 -1.5sin20 -3.6cos20 ) i
point we move +( -2.4sin20 -1.5cos20 +3.6cos20 ) j kN
the force to 109
 At point O (0,0)

Sys 1 M R 1.64 i 0.99 j kN

O M = -1.635 kN-m
R P
M 1.635 k kN
At point X (x,y)

couples 0 M N Correct? O (0,0)

r (0 x)i (0 y ) j
cancelled 0 M ( xi yj) R
0 M ( xi yj) R P (x,y)

Sys 2 M ( xi yj) R M
Two equivalent systems
O Moment at any point Pick Point O

N must be the same on both system

R
P ( xi yj) (1.64i 0.99 j ) 1.635k
R
0.99 x 1.64 y 1.635 ( line of action ) 110
 At point O (0,0)

M R 1.64 i 0.99 j kN
O
R d P M = -1.635 kN-m
M 1.635 k kN
Manually Canceling Couples

|M | | 1.635 |
d 0.853 m
|R| ( 1.64) ( 0.99)
2 2

How to locate Point P How to find line of action ?

Ry 0.99 y yP y (0.73) 0.99
tan 1 tan 1
1.64
31.118o
tan
O (0,0)
Rx
x xP x 0.441 1.64

1
y(
d
)x
O tan
P (d sin , d cos )
x2 y 2 d 2
(0.441, 0.73) or d P 111
Equivalent System
Equivalent System Definition
Sys 1 Sys 2
M
O O
R P
R

Two force-couple systems are equivalent

(FR )system I (FR )system II

(MRO )system I (MRO )system II

112
 A car stuck in the snow.
Three students attempt to
free the car by exert forces
on the car at point A, B and
C while the drivers actions
result in a forward thrust of
200 N as shown in picture.
Determine
1) the equivalent force-couple system at the car center of mass G
2) locate the point on x-axis where the resultant passes.
y

R ( F i ( F j
x y
R

R ( 400 200 200 250sin 30 i

M
x +
( 350 250 cos 30 j
G

M G 350(1.65) 250sin 30 (0.825)
R 925 i 567 j 690 N m
113
For line of action of resultant y
R 925 i 567 j
y b
R 925 i 567 j

690 N m
G x Sys II
x Sys I
G

( xi y j ) (925 i 567 j ) 690 k

Couple Cancellation

k : 567 x 925 y 690 0 M ( xi yj) R

At y = 0; x = +1.218 m. ANS Two equivalent systems
Moment at point G
must be the same on both system
If you want to find only b (not line of action itself)

Two equivalent systems Ry (b) | M G | M G , SysII M G , SysI

(2D)

+ or - , you have to
567(b)=690 ( xi yj) R M
find out manually
b=1.218 m 114

Determine the resultant R (vector) and the point on x and y axes which R
must pass.

+
G x

M o 25(5) 30(9)

R ( F i ( F j
x y
(20cos30 )(9) (20sin 30 )(5)
( 25 20sin 30 i
( 20cos30 30) j 351 kN m

15 i 47.3 j
115
 y
y
R 15 i 47.3 j

351 kN m

O
x O x

For line of action of resultant

r R Mo

(x i y j) (15 i 47.3 j) 351k

47.3 x 15 y 351

If y = 0; x = 7.42 m.
x = 0; y = -23.4 m.
ANS
116
117