ModuleI: Fundamental Concepts

1.1 Force and their characteristics

1.2 External and internal effects of forces
1.3 Force systems; concurrent, non-concurrent, parallel, non-
concurrent, coplanar and spatial force systems
1.4 Components of a force; resolution of a force into planar and
spatial components
1.5 Moment of a force
1.6 Couples

1.1 Force and their characteristics

Statics is a branch of mechanics which studies the effects and distribution of forces
of rigid bodies which are and remain at rest. In this area of mechanics, the body in
which forces are acting is assumed to be rigid. The deformation of non-rigid bodies
is treated in Strength of Materials.
Topics in Statics:
• Resultant of Force System
• Equilibrium of Force System
• Analysis of Trusses
• Cables
• Friction
• Centroids and Centers of Mass
• Moments of Inertia

1.2 External and Internal forces

 Forces can be categorized as internal forces or external forces. External
forces include the applied force, normal force, tension force, friction force, and air
resistance force. And internal forces include the gravity forces, magnetic force,
electrical force, and spring force.

1.3 Force systems; concurrent, non-concurrent, parallel, non-concurrent,

coplanar and spatial force systems

SYSTEMS OF FORCES
When a mechanics problem or system has more than one force acting, it is known
as a ‘force system’ or ‘system of force’.

Axioms of Mechanics

1. The Parallelogram Law: The resultant of two forces is the diagonal of the parallelogram
formed on the vectors of these forces

2. Two forces are in equilibrium only when equal in magnitude, opposite in direction, and
collinear in action

3. A set of forces in equilibrium may be added to any system of forces without changing the
effect of the original system

4. Action and reaction forces are equal but oppositely directed

Free Body Diagram

A sketch of the isolated body which shows only the forces acting upon the body. Consists of
an entire assembled structure or an isolated part of it. Forces acting on the free body are the
action forces or applied forces

Collinear Force System

When the lines of action of all the forces of a system act along the same line, this force system
is called collinear force system.
Parallel Forces

Concurrent Force System

The forces when extended pass through a single point and the point is called point of
concurrency. The lines of actions of all forces meet at the point of concurrency. Concurrent
forces may or may not be coplanar.

Non-concurrent Force System

When the forces of a system do not meet at a common point of concurrency, this type of force
system is called non-concurrent force system. Parallel forces are the example of this type of
force system. Non-concurrent forces may be coplanar or non-coplanar.
 1.4 Components of a force; resolution of a force into planar and spatial components

Forces acting at some angle from the coordinate axes can be resolved into mutually
perpendicular forces called components. The component of a force parallel to the x-
axis is called the x-component, parallel to y-axis the y-component, and so on.

Components of a Force in XY Plane

Fx = Fcosθx = Fsinθy
Fy = Fsinθx = Fcosθy
‫ = ܨ‬ඥ‫ܨ‬௫ଶ + ‫ܨ‬௬ଶ
tanθx=Fy/Fx

Given the slope of the line of action of the force as v/h

‫ = ݎ‬ඥℎ ଶ + ‫ ݒ‬ଶ
Fx = F(h/r)
Fy = F(v/r)

Components of a Force in 3D Space

Given the direction cosines of the force:

Fx = Fcos θx
Fy= Fcos θy
Fz = Fcos θz
‫ = ܨ‬ට‫ܨ‬௫ଶ + ‫ܨ‬௬ଶ + ‫ܨ‬௭ଶ
Cos θx = Fx/F
Cos θy = Fy/F
Cos θz = Fz/F
Given the coordinates of any two points along the line of action of the force (with
reference to the figure shown, one of the points is the origin):

Let d = distance OB
݀ = ඥ‫ ݔ‬ଶ + ‫ ݕ‬ଶ + ‫ ݖ‬ଶ
Fx = F(x/d)
Fy = F(y/d)
Fz = F(z/d)

Vector Notation of a Force (Rectangular Representation of a Force)

F=Fλ
Where λ is a unit vector. There are two cases in determining λ; by direction cosines
and by the coordinates of any two points on the line of action of the force.

Given the direction cosines:

λ = cos θxi + cos θyj + cos θzk
Given any two points P1(x1, y1, z1) and P2(x2, y2, z2) on the line of action of the force:
λ = (1/d)(dxi + dyj + dzk)
Where
i, j, and k are unit vectors in the direction of x, y and z respectively.
dx = x2−x1
dy = y2−y1
dz = z2−z1

݀ = ට݀௫ଶ + ݀௬ଶ + ݀௭ଶ

cosθx = dx/d
cos θy = dy/d
cos θz = dz/d
Note:
cos2θx+cos2θy+cos2θz = 1
(dx/d)2+(dy/d)2+(dz/d)2 = 1
Also note the following:
Fx = cosθx = dx/d
Fy = cosθy = dy/d
Fz = cosθz = dz/d
‫ = ܨ‬ඥ‫ܨ‬௫ଶ + ‫ܨ‬௬ଶ + ‫ܨ‬௭ଶ
Thus,
F = F(cosθxi + cosθyj + cosθzk)
F = (F/d) (dxi + dyj + dzk)

In simplest term
F=Fxi + Fyj + Fzk

The above rectangular representation of a force is applicable in both 2D and 3D

forces.

1.5 Moment of a force

Moment is the measure of the capacity or ability of the force to produce twisting
or turning effect about an axis. This axis is perpendicular to the plane containing
the line of action of the force. The magnitude of moment is equal to the product
of the force and the perpendicular distance from the axis to the line of action of
the force. The intersection of the plane and the axis is commonly called the
moment center, and the perpendicular distance from the moment center to the
line of action of the force is called moment arm.
 From the figure above, O is the moment center and d is the moment arm.
The moment M of force F about point O is equal to the product of F and d.
M=Fd

1.6 Couples

Couple is a system of forces whose magnitude of the resultant is zero and yet has
a moment sum. Geometrically, couple is composed of two equal forces that are
parallel to each other and acting in opposite direction. The magnitude of the couple is
given by

C=Fd

Where F are the two forces and d is the moment arm, or the perpendicular distance
between the forces.

Couple is independent of the moment center; thus, the effect is unchanged in the
following conditions.
• The couple is rotated through any angle in its plane.
• The couple is shifted to any other position in its plane.
• The couple is shifted to a parallel plane.