Edition

Eighth
Eighth Edition Vector Mechanics for Engineers: Statics
Introduction
VECTOR MECHANICS FOR ENGINEERS: • Treatment of a body as a single particle is not always possible. In

3
CHAPTER
general, the size of the body and the specific points of application of the
STATICS forces must be considered.

Chapter 3 • Most bodies in elementary mechanics are assumed to be rigid, i.e., the
actual deformations are small and do not affect the conditions of
Rigid Bodies: Equivalent equilibrium or motion of the body.

Systems of Forces • 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
Ferdinand P. Beer - moment of a force about an axis
E. Russell Johnston, Jr.
- moment due to a couple

Lecture Notes: • Any system of forces acting on a rigid body can be replaced by an
J. Walt Oler equivalent system consisting of one force acting at a given point and one
Texas Tech University couple.
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Eighth

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Eighth

Vector Mechanics for Engineers: Statics Vector Mechanics for Engineers: Statics
External and Internal Forces Principle of Transmissibility: Equivalent Forces
• Forces acting on rigid bodies are • Principle of Transmissibility -
divided into two groups: Conditions of equilibrium or motion are
- External forces not affected by transmitting a force
- Internal forces 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
• External forces are shown in a
does not affect the motion or the
free-body diagram.
other forces acting on the truck.

• Principle of transmissibility may

• If unopposed, each external force not always apply in determining
can impart a motion of internal forces and deformations.
translation or rotation, or both.

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Eighth

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Eighth

Vector Mechanics for Engineers: Statics Vector Mechanics for Engineers: Statics
Vector Product of Two Vectors Vector Products: Rectangular Components
• Concept of the moment of a force about a point is • Vector products of Cartesian unit vectors,
more easily understood through applications of G G G G G G G G
i ×i = 0 j × i = −k k × i = j
the vector product or cross product. G G G G G G G G
i× j =k j× j =0 k × j = −i
G G G K G G G G
• Vector product of two vectors P and Q is defined i ×k = − j j ×k = i k ×k = 0
as the vector V which satisfies the following
conditions: • Vector products in terms of rectangular
1. Line of action of V is perpendicular to plane coordinates
G G G G G G G
V = (Px i + Py j + Pz k )× (Q x i + Q y j + Q z k )
containing P and Q.
2. Magnitude of V is V = P Q sin θ
G G
3. Direction of V is obtained from the right-hand = (Py Q z − Pz Q y )i + ( Pz Qx − Px Q z ) j
G
+ (Px Q y − Py Q x )k
rule.

• Vector products: G G G
- are not commutative, Q × P = −( P × Q ) i j k
- are distributive, P × (Q1 + Q2 ) = P × Q1 + P × Q2 = Px Py Pz
- are not associative, ( P × Q ) × S ≠ P × (Q × S ) Qx Q y Qz

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Vector Mechanics for Engineers: Statics
Moment of a Force About a Point
• A force vector is defined by its magnitude and
direction. Its effect on the rigid body also depends
on its point of application.
• The moment of F about O is defined as
MO = r × F
• The moment vector MO is perpendicular to the
plane containing O and the force F.
• Magnitude of MO measures the tendency of the force
to cause rotation of the body about an axis along MO.
M O = rF sin θ = Fd
The sense of the moment may be determined by the
right-hand rule.
• 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.
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Eighth
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Eighth
Vector Mechanics for Engineers: Statics
Moment of a Force About a Point
• 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. MO, the moment of the force about O is
perpendicular to the plane.
• If the force tends to rotate the structure counterclockwise,
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 clockwise, 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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Eighth

Vector Mechanics for Engineers: Statics Vector Mechanics for Engineers: Statics
Varignon’s Theorem Rectangular Components of the Moment of a Force

• The moment about a given point O of the The moment of F about O,

resultant of several concurrent forces is equal G G
G G G G G
to the sum of the moments of the various M O = r × F , r = xi + yj + zk
G G G G
forces about the same point O. F = Fx i + Fy j + Fz k
G G G G G G G
r × (F1 + F2 + ") = r × F1 + r × F2 + " G G G G
M O = M xi + M y j + M z k

• Varigon’s Theorem makes it possible to G

G G
replace the direct determination of the i j k
moment of a force F by the moments of two = x y z
or more component forces of F.
Fx Fy Fz

G G G
( )
= yFz − zF y i + ( zFx − xFz ) j + xFy − yFx k ( )

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Vector Mechanics for Engineers: Statics Vector Mechanics for Engineers: Statics
Rectangular Components of the Moment of a Force Rectangular Components of the Moment of a Force
For two-dimensional structures,
G G
The moment of F about B, (
M O = xFy - yFx k )
G G G
M B = rA / B × F MO = MZ
G G G = xFy - yFx
rA / B = rA − rB
G G G
= (x A − xB ) i + ( y A − y B ) j + (z A − z B ) k
G G G G
F = Fx i + Fy j + Fz k

G G G G
i j k G
G [
M B = (x A - xB )Fy - ( y A - y B )Fx k ]
M B = ( x A − xB ) ( y A − yB ) (z A − z B )
Fx Fy Fz MB = MZ

= (x A - xB )Fy - (y A - y B )Fx

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Vector Mechanics for Engineers: Statics Vector Mechanics for Engineers: Statics
Example 3.1 Example 3.1 contd.
A 100-N vertical force is applied to the end of a a) Moment about O is equal to the product of the
lever which is attached to a shaft at O. force and the perpendicular distance between the
line of action of the force and O. Since the force
Determine: tends to rotate the lever clockwise, the moment
a) moment about O, vector is into the plane of the paper.

b) horizontal force at A which creates the same M O = Fd

moment, d = (24 cm ) cos 60° = 12 cm
c) smallest force at A which produces the same M O = (100 N )(12 cm ) M O = 1200 N ⋅ cm
moment,
d) location for a 240-N 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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Eighth

Vector Mechanics for Engineers: Statics Vector Mechanics for Engineers: Statics
Example 3.1 contd. Example 3.1 contd.
b) Horizontal force at A that produces the same c) The smallest force A to produce the same moment
moment, occurs when the perpendicular distance is a
maximum or when F is perpendicular to OA.
d = (24 cm )sin 60° = 20.8 cm
M O = Fd M O = Fd
1200 N ⋅ cm = F (20.8 cm ) 1200 N ⋅ cm = F (24 cm )
1200 N ⋅ cm 1200 N ⋅ cm
F= F = 57.7 N F= F = 50 N
20.8 cm 24 cm

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Vector Mechanics for Engineers: Statics Vector Mechanics for Engineers: Statics
Example 3.1 contd. Example 3.1 contd.

d) To determine the point of application of a 240 N e) Although each of the forces in parts b), c), and d)
force to produce the same moment, produces the same moment as the 100 N force, none
are of the same magnitude and sense, or on the same
M O = Fd line of action. None of the forces is equivalent to the
1200 N ⋅ cm = (240 N )d 100 N force.
1200 N ⋅ cm
d= = 5 cm
240 N
OB cos60° = 5 cm OB = 10 cm

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Vector Mechanics for Engineers: Statics Vector Mechanics for Engineers: Statics
Example 3.2 Example 3.2 contd.
SOLUTION:
G G G
SOLUTION: M A = rC A × F
The moment MA of the force F exerted G G G G G
rC A = rC - rA = (0.3 m)i + (0.08 m)k
by the wire is obtained by evaluating
the vector product, G
G G rC D
G G G F = Fλ = (200 N )
M A = rC A × F rC D
G G G
− (0.3 m )i + (0.24 m ) j − (0.32 m )k
= (200 N )
0. 5 m
G G G
= −(120 N ) i + (96 N ) j − (128 N )k
The rectangular plate is supported by G G G
the brackets at A and B and by a wire i j k
G
CD. Knowing that the tension in the M A = 0. 3 0 0.08
wire is 200 N, determine the moment − 120 96 − 128
about A of the force exerted by the
wire at C. K G G G
M A = −(7.68 N ⋅ m ) i + (28.8 N ⋅ m ) j + (28.8 N ⋅ m )k
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Eighth

Vector Mechanics for Engineers: Statics Vector Mechanics for Engineers: Statics
Scalar Product of Two Vectors Scalar Product of Two Vectors: Applications
• The scalar product or dot product between • Angle between two vectors:
two vectors P and Q is defined as G G
G G P • Q = PQ cos θ = Px Qx + Py Q y + Pz Qz
P • Q = PQcosθ (scalar result)
Px Qx + Py Q y + Pz Qz
• Scalar products: cosθ =
G G G G PQ
- are commutative, P•Q = Q• P
G G G G G G G
P • (Q1 + Q2 ) = P • Q1 + P • Q2
- are distributive, • Projection of a vector on a given axis:
G G G POL = P cos θ = projection of P along OL
- are not associative, (P • Q )• S = undefined G G
P • Q = PQ cos θ = POLQ
• Scalar products with Cartesian unit components,
G G G G G G G G G G
P • Q = (Px i + Py j + Pz k )• (Qx i + Q y j + Qz k ) POL =
P • Q PxQx + Py Q y + Pz Qz
=
Q Q
G G G G G G G G K G G G
i •i =1 j • j =1 k •k =1 i • j = 0 j •k = 0 k •i = 0 • For an axis defined by a unit vector:
G G
G G POL = P • λ
P • Q = PxQx + PyQ y + Pz Qz
G G = Px cos θ x + Py cos θ y + Pz cos θ z
If P = Q, P • P = Px2 + Py2 + Pz2 = P 2
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Eighth

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Eighth

Vector Mechanics for Engineers: Statics Vector Mechanics for Engineers: Statics
Mixed Triple Product of Three Vectors Moment of a Force About a Given Axis
• Mixed triple product of three vectors, • Moment MO of a force F applied at the point A
G G G
S • (P × Q ) = scalar result about a point O,
G G G
MO = r × F
• The six mixed triple products formed from S, P, and
Q have equal magnitudes but not the same sign, • Scalar moment MOL about an axis OL is the
G G G G G G G G G
S • (P × Q ) = P • (Q × S ) = Q • (S × P )
projection of the moment vector MO onto the
G G G G G G G G axis,
= − S • (Q × P ) = − P • (S × Q ) = −Q • (P × S ) G G G G G
M OL = λ • M O = λ • (r × F )

• Evaluating the mixed triple product,

G G G
S • (P × Q ) = S x (Py Q z − Pz Q y ) + S y ( Pz Q x − Px Qz )
• Moments of F about the coordinate axes,
M x = yFz − zFy
(
+ S z Px Q y − Py Qx )
M y = zFx − xFz
Sx Sy Sz
M z = xFy − yFx
= Px Py Pz
Qx Qy Qz
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Vector Mechanics for Engineers: Statics Vector Mechanics for Engineers: Statics
Moment of a Force About a Given Axis Example 3.3

• Moment of a force about an arbitrary axis,

G G A cube is acted on by a force P as
M BL = λ • M B shown. Determine the moment of P
G G G
= λ • (rA B × F ) a) about A
G G G
rA B = rA − rB b) about the edge AB and
c) about the diagonal AG of the cube.
• The result is independent of the point B d) Determine the perpendicular distance
along the given axis. between AG and FC.

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Eighth

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Eighth

Vector Mechanics for Engineers: Statics Vector Mechanics for Engineers: Statics
Example 3.3 contd. Example 3.3 contd.
• Moment of P about A,
G G G • Moment of P about the diagonal AG,
M A = rF A × P G G
G G G G G M AG = λ • M A
rF A = ai - a j = a (i - j ) G G G G
G rA G ai − aj − ak 1 G G G
λ=
rA G
=
a 3
= (i − j − k )
G P G P G P G G 3
P= j- k= (j -k)
G aP G G G
2 2 2
MA = (i + j + k )
G G G P G G 2
M A = a (i - j )× (j -k) 1 G G G aP G G G
2
G P G G G
M AG =
3
(i − j − k )• 2 (i + j + k )
MA = a (i + j + k )
2 aP
= (1 − 1 − 1)
G AB,
• Moment of PG about 6
M AB = i • M A
aP
M AG = −
G aP G G G 6
=i • (i + j + k ) aP
2 M AB =
2

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Eighth

Vector Mechanics for Engineers: Statics Vector Mechanics for Engineers: Statics
Example 3.3 contd. Moment of a Couple
• Perpendicular distance between AG and FC, • Two forces F and -F having the same magnitude,
parallel lines of action, and opposite sense are said
G G P G G 1 G G G
P•λ =
2
( j − k )• 3 (i − j − k ) = P6 (0 − 1 + 1) to form a couple.

=0 • Moment of the couple,

G G G G G
Therefore, P is perpendicular to AG. M = rA × F + rB × (− F )
G G G
aP = (rA − rB ) × F
M AG = = Pd G G
6 = r×F
a
d= M = rF sin θ = Fd
6

• 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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Vector Mechanics for Engineers: Statics Vector Mechanics for Engineers: Statics
Moment of a Couple Addition of Couples
• Consider two intersecting planes P1 and
Two couples will have equal moments if P2 with each containing a couple
G G G
M 1 = r × F1 in plane P1
• F1d1 = F2 d 2 G G G
M 2 = r × F2 in plane P2
• the two couples lie in parallel planes, and
• Resultants of the vectors also form a
• the two couples have the same sense or couple
G G G G G G
M = r × R = r × (F1 + F2 )
the tendency to cause rotation in the same
direction.
• By Varigon’s theorem
G G G G G
M = r × F1 + r × F2
G G
= M1 + M 2

• Sum of two couples is also a couple that is equal

to the vector sum of the two couples
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Eighth

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Eighth

Vector Mechanics for Engineers: Statics Vector Mechanics for Engineers: Statics
Couples Can Be Represented by Vectors Resolution of a Force Into a Force at O and a Couple

• 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.
• 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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Eighth

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Eighth

Vector Mechanics for Engineers: Statics Vector Mechanics for Engineers: Statics
Resolution of a Force Into a Force at O and a Couple Example 3.4
SOLUTION:
• Attach equal and opposite 20 N 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

• Moving F from A to a different point O’ requires the moments of the four forces about an
addition of a different couple vector MO’ arbitrary single point. The point D is a
G G G
M O' = r ′ × F good choice as only two of the forces will
produce non-zero moment contributions..
• The moments of F about O and O’ are related,
G G G G G G G G G G Determine the components of the
M O ' = r '× F = (r + s ) × F = r × F + s × F single couple equivalent to the
G G G
= MO + s × F couples shown.
• 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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Eighth
Vector Mechanics for Engineers: Statics Vector Mechanics for Engineers: Statics
Example 3.4 contd. Example 3.4 contd.
• Attach equal and opposite 20 N forces in • Alternatively, compute the sum of the
the +x direction at A moments of the four forces about D.

• The three couples may be represented by • Only the forces at C and E contribute to
three couple vectors, the moment about D.
G G G G
M x = −(30 N )(18 cm ) = −540 N ⋅ cm M = M D = (18 cm ) j × (− 30 N )k
G
M y = + (20 N )(12 cm ) = +240 N ⋅ cm [ G
] G
+ (9 cm ) j − (12 cm )k × (− 20 N ) i
M z = +(20 N )(9 cm ) = +180 N ⋅ cm
G G G
G G G M = −(540 N ⋅ cm ) i + (240 N ⋅ cm ) j
M = −(540 N ⋅ cm ) i + (240 N ⋅ cm ) j G
G + (180 N ⋅ cm )k
+ (180 N ⋅ cm )k

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Eighth

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Eighth

Vector Mechanics for Engineers: Statics Vector Mechanics for Engineers: Statics
System of Forces: Reduction to a Force and Couple Further Reduction of a System of Forces
• 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:
• A system of forces may be replaced by a collection of 1) the forces are concurrent,
force-couple systems acting at a given point O 2) the forces are coplanar, or
3) the forces are parallel.
• The force and couple vectors may be combined into a
resultant force vector and a resultant couple vector,
G G G G G
R = ∑F M OR = ∑ (r × F )
• The force-couple system at O may be moved to O’
with the addition of the moment of R about O’ ,
G G G G
M OR' = M OR + s × R
• Two systems of forces are equivalent if they can be
reduced to the same force-couple system.
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Eighth

Vector Mechanics for Engineers: Statics Vector Mechanics for Engineers: Statics
Further Reduction of a System of Forces Example 3.5
• System of coplanar forces
G isGreduced to a SOLUTION:
force-couple system R and M OR that is
mutually perpendicular. a) Compute the resultant force for the
forces shown and the resultant
• System can be reduced to a singleG force couple for the moments of the
by moving the line of action of GR until forces about A.
its moment about O becomes M OR
b) Find an equivalent force-couple
For the beam, reduce the system of system at B based on the force-
• In terms of rectangular coordinates, forces shown to (a) an equivalent couple system at A.
xR y − yRx = M OR force-couple system at A, (b) an
equivalent force couple system at B, c) Determine the point of application
and (c) a single force or resultant. for the resultant force such that its
moment about A is equal to the
Note: Since the support reactions are
resultant couple at A.
not included, the given system will
not maintain the beam in equilibrium.

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Vector Mechanics for Engineers: Statics Vector Mechanics for Engineers: Statics
Example 3.5 contd. Example 3.5 contd.
SOLUTION: b) Find an equivalent force-couple system at B
based on the force-couple system at A.
a) Compute the resultant force and the
resultant couple at A. The force is unchanged by the movement of
G G the force-couple system from A to B.
R = ∑F
G G G G G G
= (150 N ) j − (600 N ) j + (100 N ) j − (250 N ) j R = −(600 N ) j
G G
R = −(600 N ) j
The couple at B is equal to the moment about
G G G
M AR = ∑ (r × F ) B of the force-couple system found at A.
G G G G GR G G
= (1.6 i )× (− 600 j ) + (2.8 i )× (100 j ) G
M B = M AR + rB A × R
G G
+ (4.8 i )× (− 250 j ) G G G
= −(1880 N ⋅ m )k + (− 4.8 m )i × (− 600 N ) j
G G G G
M AR = −(1880 N ⋅ m )k = −(1880 N ⋅ m )k + (2880 N ⋅ m )k
G G
M BR = +(1000 N ⋅ m )k

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