2020-05-12

 Module 2-1 – Introduction

& 2-D Concurrent Force
Systems
 Module 2-2 – 2-D
Moments & Cross Product
 Module 2-3 – Couples and
General 2-D Resultant
 Module 2-4 – 3-D
Concurrent Force Systems
& Vector Components
 Module 2-5 – Dot Product
 Module 2-6 – 3-D
Moment and Moment
about an axis
 Module 2-7 – 3-D Couples
Luke MacDonald, MASc., P.Eng. & General 3-D Resultant
luke.macdonald@smu.ca

EXTERNAL INTERNAL
FORCES FORCES
Introduction & 2-D
 Act on the exterior  Act on the interior
Concurrent Force of a body
 Examples:
of a body
 Examples:
Systems  Applied Forces
 Reactive Forces
 Internal Bending
Moment
 Body Forces
 Included on Free  Internal Shear
Body Diagrams  Internal Normal
 Are NOT included
on Free Body
Diagrams

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 A force may be applied anywhere on  Forces are concurrent when their

its line of action without altering lines of action intersect at a single
the external effects point
 However the internal effects will  If a force system is comprised of
likely be different only concurrent forces, we can
 Because of this property, force replace them with a single force
vectors are said to be sliding without changing the external
vectors reactions
 This single
equivalent
force is called
the RESULTANT

 We can calculate the  Calculating the resultant force

resultant force for a requires each applied force to be
concurrent force broken up into components
system:
𝑭 = 𝑭𝒙 + 𝑭𝒚
𝑹 = Σ𝑭 𝑭 = 𝐹𝑥 𝒊 + 𝐹𝑦 𝒋

 Once we have  Scaler Components

components of R,
in this case are:
we can find the
magnitude and
direction: 𝐹𝑥 = 𝐹𝑐𝑜𝑠𝜃
𝐹𝑦 = 𝐹𝑠𝑖𝑛𝜃
𝑅= 𝑹 = 𝑅𝑥 2 + 𝑅𝑦 2
θ
𝑅𝑦
𝜽= 𝑡𝑎𝑛−1 ൘𝑅
𝑥

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 A Moment or Torque is a quantitative

measure of the tendency of a force to
cause a rotation about an axis
 A moment may be applied anywhere on a

2-D Moments & rigid body without altering the external

effects ( it is a free vector)
Cross Product  The magnitude of
moment is a function of:
 Distance d
 Force F
 Angle θ

 Using scalers, the magnitude of a Example 1

moment may be calculated as:

𝑀𝑜 = 𝐹𝑑
Example 2
 As a scaler, moments may be
positive or negative, depending on
Example 3
the direction of the force will tend
to rotate:

Counter-clockwise Clockwise
Is POSITIVE Is NEGATIVE Example 4

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1. Non-communitive
𝑨 × 𝑩 = −(𝑩 × 𝑨)
𝑪=𝑨×𝑩 2. Distributivity (Scalers)
MAGNITUDE DIRECTION 𝑎 𝑨 × 𝑩 = 𝑎𝑨 × 𝑩 = (𝑨 × a𝐁)

 𝐶 = 𝐴𝐵 𝑠𝑖𝑛𝜃  Perpendicular to Distributivity (Vectors)

1.
the plane in which 𝑪 × 𝑨 + 𝑩 = 𝑪 × 𝑨 + (𝑪 × 𝐁)
vectors A and B lie

Area of
Parallelogram

 The cross product for 3-D vectors

may be calculated using the property  Let θ be the angle between vectors
of distributivity by the expansion of: A and B
 if 𝜃 = 90°: Cross Product is MAX
 if 𝜃 = 0°: Cross Product is ZERO
𝑨 × 𝑩 = (𝐴𝑥 𝒊 + 𝐴𝑦 𝒋 + 𝐴𝑧 𝒌) × (𝐵𝑥 𝒊 + 𝐵𝑦 𝒋 + 𝐵𝑧 𝒌)
= 𝐴𝑦 𝐵𝑧 − 𝐴𝑧 𝐵𝑦 𝒊 − 𝐴𝑥 𝐵𝑧 − 𝐴𝑧 𝐵𝑥 𝒋 +
𝐴𝑥 𝐵𝑦 − 𝐴𝑦 𝐵𝑥 𝒌

 Which is found by calculating the

determinant of:
𝑖 𝑗 𝑘
𝑨 × 𝑩 = 𝑑𝑒𝑡 𝐴𝑥 𝐴𝑦 𝐴𝑧
𝐵𝑥 𝐵𝑦 𝐵𝑧

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 Using the Distributive property,

Varignon’s theorem states that:
𝑴𝒐 = 𝒓 × 𝑭
𝑴𝒐 = 𝒓 × 𝑭
MAGNITUDE DIRECTION
= 𝒓 × (𝑭𝒙 + 𝑭𝒚 )
 𝑀 = 𝑟𝐹 𝑠𝑖𝑛𝜃  In 2-D the moment = (𝒓 × 𝑭𝒙 ) + (𝒓 × 𝑭𝒚 )
is directed along
the z axis

 In other words, the moment of

force vector F about the point o is
equal to the sum of the moments
of its components about o

 A couple is a special force

system comprised of two
equal and opposite
Couples & General collinear force vectors
 The forces can be
2-D Resultant replaced by a
moment with
magnitude:

𝑀 = 𝐹𝑑

 Couples, like moments,

are free vectors

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Example 1  Couples can be

Example 2 calculated using
vectors:

𝑴= 𝒓×𝑭

 The magnitude is
given by 𝑀 = 𝐹𝑑
Example 3  A couple in 2-D is
directed into the
z direction using RHR
Example 4

 A force vector can be moved from  The Resultant of a force system is the
A to B on a rigid body to another simplest force system which when
with the addition of a moment applied will yield the same external
 The result is a Force-Couple effects
system at B  Applications:
 Dynamics – Used to find direction of
acceleration
 Bolts – Resultant force on bolt is design load
 Dams – Used to determine if dam will
overturn
 A 2-D force system can be replaced
Two
Force/couple by a single force acting along a single
Force at A equal/opposite
system at B
forces added at B line of action

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1. A force system 3. Forces and

exists on a rigid moments are
body consisting of summed to
forces and applied produce a force-
moments couple system at o 4. The resultant is
offset by a
2. Forces are 𝑹 = Σ𝑭 distance d which
transferred to
arbitrary point O.
𝑀𝑜 = 𝛴𝐹𝑑 + 𝛴𝑀 produces the
moment Mo
Each force move
produces a moment 𝑀𝑜
𝑑=
𝑅

 We can replace a concurrent force system in

3-D with a single resultant force without
changing the external reactions:

𝑹 = Σ𝑭
3-D Concurrent
 3-D Vector Direction may
Force Systems & be specified in three ways:
 Angle between
Vector Components vector
x, y, z axes
and

 2 known points
on line of action
of force
 Angles between
vector
and Cartesian
planes

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 If a 3-D vector passes through 2

 Direction Cosines
known points, we can calculate a
are angles
unit vector going in the same
measured directly
direction:
between a vector
and each Cartesian 𝒓𝑨𝑩 Δ𝑥𝑖 + Δ𝑦𝑗 + Δ𝑧𝑘
𝒏𝑨𝑩 = =
axis: 𝑟𝐴𝐵 Δ𝑥 2 + Δ𝑦 2 + Δ𝑧 2

 Components may
 The force vector
be calculated as 𝑭𝑨𝑩 = 𝐹𝐴𝐵 𝒏𝑨𝑩
is therefore:
follows:

𝐹𝑥 = 𝐹𝑐𝑜𝑠𝛼
𝐹𝑦 = 𝐹𝑐𝑜𝑠𝛽
𝐹𝑧 = 𝐹𝑐𝑜𝑠𝛾

 If angles are provided

between the vector
and Cartesian planes:
 Project 𝑭 onto the x-y
plane Dot Product
𝐹𝑧 = 𝐹𝑐𝑜𝑠𝜙
𝐹𝑥𝑦 = 𝐹𝑠𝑖𝑛𝜙

 Calculate x and y
components from 𝐹𝑥𝑦
𝐹𝑥 = 𝐹𝑥𝑦 𝑐𝑜𝑠𝜃 = 𝐹𝑠𝑖𝑛𝜙𝑐𝑜𝑠𝜃
𝐹𝑦 = 𝐹𝑥𝑦 𝑠𝑖𝑛𝜃 = 𝐹𝑠𝑖𝑛𝜙𝑠𝑖𝑛𝜃

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1. Communitive
𝑨 ∙ 𝑩 = (𝑩 ∙ 𝑨)
𝐶 =𝑨∙𝑩 2. Distributivity (Scalers)
MAGNITUDE SENSE 𝑎 𝑨 ∙ 𝑩 = 𝑎𝑨 ∙ 𝑩 = (𝑨 ∙ a𝐁)

 𝑨 ∙ 𝑩 = 𝐴𝐵 𝑐𝑜𝑠𝜃  If vectors A and B 3. Distributivity (Vectors)

are in same
direction; dot 𝑪∙ 𝑨+𝑩 =
product is positive 𝑪 ∙ 𝑨 + (𝑪 ∙ 𝐁)
 If vectors A and B
are in opposing
directions; dot
product is negative

 The dot product for 3-D vectors may  By rearranging the dot product
be calculated using the property of formula we can calculate the angle
distributivity by the expansion of: between any two vectors:
𝑨∙𝑩
𝜃 = 𝑐𝑜𝑠 −1
𝑨 ∙ 𝑩 = (𝐴𝑥 𝒊 + 𝐴𝑦 𝒋 + 𝐴𝑧 𝒌) ∙ (𝐵𝑥 𝒊 + 𝐵𝑦 𝒋 + 𝐵𝑧 𝒌) 𝐴𝐵

= 𝐴𝑥 𝐵𝑥 + 𝐴𝑦 𝐵𝑦 + 𝐴𝑧 𝐵𝑧

 In statics, the dot product is used to

calculate two things:
 Angle between any two vectors
 Projection of force onto any line

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 We can calculate the projection of
𝑭 onto line AB by calculating unit
vector 𝒏𝑎𝑏 and applying the dot
product:
𝐹𝐴𝐵 = 𝑭 ∙ 𝒏𝑨𝑩
 In 2-D, moment vectors were
always directed into the positive or
negative z direction (±𝒌)
 In 3-D, moment vectors can be
pointing in any direction
 We can find moments
in 3-D using
 Scalers
 Vectors
2020-05-12
3-D Moment and
Moment about an
Axis
 We can use scalers to calculate moments
about each Cartesian axis:
𝑀𝑥 = Σ𝐹𝑧 𝑑𝑦 + Σ𝐹𝑦 𝑑𝑧 + Σ𝑀𝑥
𝑀𝑦 = Σ𝐹𝑧 𝑑𝑥 + Σ𝐹𝑥 𝑑𝑧 + Σ𝑀𝑦
𝑀𝑧 = Σ𝐹𝑥 𝑑𝑦 + Σ𝐹𝑦 𝑑𝑥 + Σ𝑀𝑧
 RHR provides the sense
 This approach is particularly useful when
force vectors are collinear with Cartesian
axes
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 When a force vector isnon-collinear  The triple-scaler-product can be

with the Cartesian axes a vector used to calculate the moment of a
approach is preferred: force about any axis:

𝑴𝒐 = 𝒓 × 𝑭 𝑀𝜆 = 𝒏𝝀 ∙ 𝒓 × 𝑭

 The magnitude of the moment  This expression is evaluated by

vector: calculating the determinant of the
following matrix:
2 2 2
𝑀𝑜 = 𝑀𝑥 + 𝑀𝑦 + 𝑀𝑧
𝑛𝜆𝑥 𝑛𝜆𝑦 𝑛𝜆𝑧
𝑀𝜆 = 𝑑𝑒𝑡 𝑟𝑥 𝑟𝑦 𝑟𝑧
𝐹𝑥 𝐹𝑦 𝐹𝑧

 Couples may be evaluated as scalers

when the forces are collinear with
Cartesian axes:
3-D Couples and
𝑀𝑥 = 𝐹𝑑 (Forces in y-z plane)
General 3-D 𝑀𝑦 = 𝐹𝑑 (Forces in x-z plane)
𝑀𝑧 = 𝐹𝑑 (Forces in x-y plane)
Resultant
 When couples are in an arbitrary
plane, the vector expression should
be used:

𝑴𝒐 = 𝒓 × 𝑭

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Example 1  The process of reducing a 3-D force

system to a force couple system at
a specific point is identical in 2-D as
it was for 3-D
 The force system can be further
reduced to a wrench

3-D Force- Forces & Force-

Couple Moments couple
Example 2 System moved to o system at 0

 A wrench acting through a specific

 A wrench is a special force/couple
system consisting of a collinear line of action is the greatest
force and moment vector reduction possible for a general 3-D
force system:

Positive Negative
Wrench Wrench Force/Couple Moment Wrench at P
System at o resolved into
components

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