شابتر 2

An-Najah National University
College of Engineering
Statics-61110
Chapter [2]
Force Systems
Dr. Sameer Shadeed
1 Statics Notes 2013 [Force Systems] Dr. Sameer Shadeed

Chapter Objectives
Students will be able to:
1. Resolve a 2D and 3D vector into

components
2. Work with 2D and 3D vectors using

Cartesian vector notations
3. Estimate the resultant of forces and

couples in 2D and 3D

Applications
There are four

concurrent cable
forces acting on
the bracket
How do you
determine the
resultant force
acting on the
bracket ?

Applications
Given the forces in the cables, how will you determine
the resultant force acting at D, the top of the tower?

Scalars and Vectors
Scalars: A mathematical quantity

possessing magnitude only (e.g. area,
volume, mass, energy)
Vectors: A mathematical quantity

possessing magnitude and direction (e.g.
forces, velocity, displacement)

Types of Vectors
A Free vector: is a vector whose action is not
confined to or associated with a unique line in
space.
A Sliding vector: is a vector which has a unique

line of action in space but not a unique point of
application.
A Fixed vector: is a vector for which a unique

point of application is specified and thus cannot
be moved without modifying the conditions of
the problem.
Working with Vectors
For two vectors to be equal they must have the same:
V V
1. Magnitude
2. Direction
But they do not need to have the same point of application

A negative vector of a given vector has same
magnitude but opposite direction V
-V
V and -V are equal and opposite V + (-V) = 0

Vector Operations
Product of a scalar and a vector
V + V + V = 3V (the number 3 is a scalar)
This is a vector in the same direction as V but 3

times as long
(+n)V = vector same direction as V, n times as

long
(-n)V = vector opposite direction as V, n times

as long
Vector Addition
The sum of two vectors can be obtained by
attaching the two vectors to the same point and
constructing a parallelogram (Parallelogram law)
As vector: V = V1+ V2
As scalar: V ≠ V1+ V2
Addition of vectors is commutative: V1 + V2 = V2 + V1
The sum of three vector (Parallelogram law) V1

R1
R1 = V1 + V2 R
V2
R = R1 + V3 = V1 + V2 + V3 V3
Vector addition is associative: V1 + V2 + V3 = (V1 + V2 ) + V3

= V1 + (V2 + V3 )
Vector Subtraction
Vector Subtraction: is the addition of the

corresponding negative vector
V = V1 - V2

Two-Dimensional Force System
Rectangular Components: is the most common two-
dimensional resolution of a force vector
F =Fx + Fy
where Fx and Fy are the vector
components of F in the x- and y-
directions
In terms of the unit vectors i and j,
Fx = Fxi and Fy = Fyj
where the scalers Fx and Fy are

F =Fx i + Fy j
the x and y scaler components of
the vector F
Two-Dimensional Force System
The scalar components can be positive or negative,
depending on the quadrant into which F points
The magnitude and

direction of F is expressed by:

Determining the
Components of a Force
Dimensions are not always
given in horizontal and vertical
directions
Angles need not be measured
counterclockwise from the x-axis
The origin of coordinates
need not be on the line of action
of a force
Therefore, it is essential that
we be able to determine the
correct components of a force
no matter how the axes are
originated or how angles are
measured

Resultant of Two Concurrent Forces
or
From which we can conclude that:
The term means “the algebric sum of x-scalar components”

Example 1

Example 1 (Solution)


Example 2


Example 3




Moment (Moment about a Point)
Moment: is the measure of the tendency of the force to
make a rigid body rotate about a point or fixed axis
The magnitude of the moment M is

proportional both to the magnitude of
the force F and the moment arm d
M = Fd
The basic units of the moment in SI units are newton-

meters (N.m), and in the U.S. Custamary system are
pound-feet (Ib.ft)
Moment (Moment about a Point)
The moment is a vector M perpendicular to the plane
of the body
The sense of M depends on the direction in which F
tends to rotate the body
The right hand rule is used to identify this sense
Moment direction: a plus

sign (+) for counterclockwise
moments and a minus sign
(−) for clockwise moments, or
vice versa

Moment (The Cross Product)
The moment of F about point A may be represented by
the cross-product expression
M=r×F
where r is a posision vector which

runs from the moment reference point
A to any point on the line of action of F
The order of r × F of the vectors must be maintained

because F × r would produce a vector with a sense
opposite to that of M
F × r = -M
Moment (The Cross Product)
The magnitude of the moment M is gevin by:
M = F (r sin α)
From the shown diagram:
r sin α = d
M = Fd

Moment (Varignon’s Theorem)
The moment of a force about any

point is equal to the sum of the
moments of the components of the
force about the same point
Mo = r × R R=P+Q
Mo = r × P + r × Q
Mo = Rd = Pp − Qq

Example 4
Calculate the magnitude of the moment about the
point O of the 600-N force


Example 5
Given:
Find:
1. Moment of the 100 N force about O
2. Magnitude of a horizontal force applied at A which
create the same moment about O
3. The smallest force applied at A which creates the
same moment about O
1. Moment of the 100 N force about O
Mo = Fd = 100(5 cos60o ) = 250 N.m
2. Magnitude of a horizontal force applied at A which create the

same moment about O
Mo = 250 = PL L = 5 sin 60o = 4.33 m
P = 250/4.33 = 57.7 N
3. The smallest force applied at A which creates the same moment
about O
P is smallest when d in M = Fd is a maximum

This occurs when P is perpendicular to the lever
Mo = Pd = P × 5 = 250
P = 250/5 = 50 N

Couple
Couple: is the moment produced by two equal,
opposite, and non-collinear forces
The combined moment of the

two forces about axis normal to
their plane and passing through
any point such as O in their plane
is the couple M
M = F(a + d) - Fa
M = Fd
Couple (Vector Algebra Method)
With the cross-product notation, the combined
moment about point O of the forces forming the
couple is
M = r A × F + r B × (–F) = (r A – r B ) × F
where rA and rB are position vectors

which run from point O to arbitrary
points A and B on the lines of action of
F and –F
Because rA – rB = r, M can be express as:
M=r×F
The Sense of A Couple Vector
The sense of a couple vector M can represent as
clockwise or counterclockwise by one of the shown
conventions

Equivalent Couple
Changing the values of F and d does not change a
given couple as long the product Fd remains the same
A couple is not affected if the forces act in a

different but parallel plane

Force – Couple System
The combination of the force and couple in the
shown figure is refered to as a force – couple system

Example 6


Example 7


Resultants
The Resultant of a system of forces

is the simplest force combination
which can replace the original forces
without altering the external effect
on the rigid body to which the forces
are applied

Resultants
Algebraic Method

Resultants
Algebraic Method

Resultants
Principle of Moments: This

process is summarized in equation
form by
If the resultant force R for a
given force system is zero, the
resultant of the systam need not
be zero because the resultant may
be a couple
The resultant force in the shown
figure have a zero resultant force
but have a resultant clockwise
couple M = F3d
Example 8




Three Dimensional Force System
Rectangular Components
The Force F acting at

point O in the shown
figure has the rectangular
components Fx, Fy and Fz
where

The above equation may write as F = Fn F

n F is a unit vector which characterizes the direction of F
n F = li + mj + nk

(a) Specification by two points on the line of action of the force
If the coordinates of points

A and B of the shown figure
are known, the force F may be
written as
Thus the x, y, and z scalar components of F are the

scalar coefficients of the unit vectors i, j, and k, respectively
(b) Specification by two angles which orient the line of action of
the force
Consider the geometry of the shown
figure and assuming that the angles θ and
Φ are known. First Resolve F into
horizantal and vertical components
Then resolve the horizontal components Fxy into x- and y-

components
Fx , Fy, and Fz are the desired scalar components of F

Dot Product
The dot product of two vectors P and Q is
defined as the product of their magnitudes times
the cosine of the angle α between them
If n is a unit vector in a specified

direction, the projection of F in the n-
direction has the magnitude Fn = F.n
The projection of F in the n-direction can be expressed as a

vector quantity by multiplying its scalar component (F.n) with the unit
vector n to give Fn = (F.n)n = F.nn
Dot Product

Angle between two Vectors

Example 9



Moment and Couple
Moments in 3D can be calculated

using scalar (2D) approach but it can
be difficult and time consuming
Thus, it is often easier to use a
mathematical approach called the
vector cross product
Using the vector cross product, MO = r × F

Here r is the position vector from point O to any point on
the line of action of F
Cross Product
In general, the cross product of two vectors A and
B results in another vector C , i.e., C = A × B
The magnitude and direction of the resulting vector
can be written as: C = A × B = A B sin θ
The right hand rule is a

useful tool for determining the
direction of the vector
resulting from a cross product

Evaluating the Cross Product
Of even more utility,
the cross product can be
written as
Each
component can
be determined
using 2×2
determinants

Cartesian Vector Formulation
What is iˆ × ˆj ?
Magnitude: iˆ × ˆj = (1)(1)sin90o = 1
Direction: + k̂
iˆ × iˆ = 0 kˆ × iˆ = ˆj ˆj × iˆ = −kˆ
iˆ × ˆj = kˆ kˆ × ˆj = −iˆ ˆj × ˆj = 0
iˆ × kˆ = − ˆj kˆ × kˆ = 0 ˆj × kˆ = iˆ
Here is a simple way of

remembering this

Moment In 3D
So, the cross-product expression for the moment
MO may be written in the determinant form as:
By expanding the above equation using 2×2

determinants, we get
M O = (ryFZ − rZ Fy)i − (rxFz − rzFx )j + (rxFy − ryFx )k

Moment In 3D
In the shown figure, the three
components of a force F acting at a
point located relative to O by the vector
r is illustrated
The scalar magnitude of the moments
of these forces about the positive x-, y-,
and z-axes through O can be obtained
from the moment-arm rule, and are
Which agree with the relative terms in the determinant

expresion for the cross product r × F
Moment about an Arbitrary Axis
Our goal is to find the moment of F

about any axis λ through O
First compute the moment of F

about any arbitrary point O that lies
on the λ axis using the cross product
MO = r × F
Now, find the component of MO along the axis λ using

the dot product
Mλ = MO •n
Here n is a unit vector in the λ-direction
Moment about an Arbitrary Axis
To obtain the vector expression for the moment Mλ of F
about λ, multiply the magnitude by the direction unit vector n
to obtain
Mλ = (r × F•n)n
The expression r × F•n is known as a triple scalar product

The triple scalar product may be represented by the
determinant
where α, β, and γ are the direction cosines of the unit

vector n
Varignon’s Theorem in 3D
In the shown figure, a system of
concurrent forces F1, F2, F3, .....
The sum of the moments about O

of these forces is
Using the symbol Mo to represent the sum of the

moments on the left side of the a bove equation, we have
Mo = ∑ (r × F) = r × R
Couples in 3D
A couple is defined as two parallel forces with the same
magnitude but opposite in direction separated by a
perpendicular distance d
With the cross-product notation, the

combined moment about point O of the
forces forming the couple is
M = r A × F + r B × (–F) = (r A – r B ) × F
where rA and rB are position vectors which run from point O

to to arbitrary points A and B on the lines of action of F and –F
Because rA – rB = r, M can be express as M=r×F

Couples in 3D
The moment of a couple is free vector (The moment of
a couple is the same about all points)
whereas the moment of a force about a point (which is
also the same about a defined axis through the point) is a
sliding vector
Couple vectors
obey all of the
rules which govern
vector quantities

Example 10


Example 11



Example 12



Resultants
The Resultant of a system of forces is the

simplest force combination which can replace
the original forces without altering the external
effect on the rigid body to which the forces are
applied

Resultants of A force System
When several forces act on a body, you can
move each force and its associated couple
moment to a common point O

Resultants of A force System
Now you can add all the forces and couple
moments together and find one resultant force-couple
moment pair
In general, the force system can be expressed as

Resultants for Several Special
Force Systems
Concurrent Forces: When forces are concurrent at

a point, there are no moments about the point of
concurrency
Parallel Forces: For a system of parallel forces not

all in the same plane, the magnitude of the parallel
resultant force R is simply the magnitude of algebraic
sum of the given forces. The position of its line of
action is obtained from the principle of moments by
requiring that r × F = Mo
Coplanar Forces: Are discussed earlier

Resultants for Several Special
Force Systems
Wrench Resultants: When the resultant couple
vector M is parallel to the resultant force R
A wrench is positive if the couple and force vectors
points in the same direction and negative if they
points in opposite directions

Example 13


Example 14



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An-Najah National University

Dr. Sameer Shadeed

1 Statics Notes 2013 [Force Systems] Dr. Sameer Shadeed

1. Resolve a 2D and 3D vector into

2. Work with 2D and 3D vectors using

3. Estimate the resultant of forces and

2 Statics Notes 2013 [Force Systems] Dr. Sameer Shadeed

There are four

3 Statics Notes 2013 [Force Systems] Dr. Sameer Shadeed

4 Statics Notes 2013 [Force Systems] Dr. Sameer Shadeed

Scalars: A mathematical quantity

Vectors: A mathematical quantity

5 Statics Notes 2013 [Force Systems] Dr. Sameer Shadeed

A Sliding vector: is a vector which has a unique

A Fixed vector: is a vector for which a unique

But they do not need to have the same point of application

V and -V are equal and opposite V + (-V) = 0

Product of a scalar and a vector

V + V + V = 3V (the number 3 is a scalar)

This is a vector in the same direction as V but 3

(+n)V = vector same direction as V, n times as

(-n)V = vector opposite direction as V, n times

Addition of vectors is commutative: V1 + V2 = V2 + V1

The sum of three vector (Parallelogram law) V1

Vector addition is associative: V1 + V2 + V3 = (V1 + V2 ) + V3

Vector Subtraction: is the addition of the

10 Statics Notes 2013 [Force Systems] Dr. Sameer Shadeed

where the scalers Fx and Fy are

The magnitude and

12 Statics Notes 2013 [Force Systems] Dr. Sameer Shadeed

13 Statics Notes 2013 [Force Systems] Dr. Sameer Shadeed

From which we can conclude that:

The term means “the algebric sum of x-scalar components”

14 Statics Notes 2013 [Force Systems] Dr. Sameer Shadeed

15 Statics Notes 2013 [Force Systems] Dr. Sameer Shadeed

16 Statics Notes 2013 [Force Systems] Dr. Sameer Shadeed

17 Statics Notes 2013 [Force Systems] Dr. Sameer Shadeed

18 Statics Notes 2013 [Force Systems] Dr. Sameer Shadeed

19 Statics Notes 2013 [Force Systems] Dr. Sameer Shadeed

20 Statics Notes 2013 [Force Systems] Dr. Sameer Shadeed

21 Statics Notes 2013 [Force Systems] Dr. Sameer Shadeed

22 Statics Notes 2013 [Force Systems] Dr. Sameer Shadeed

23 Statics Notes 2013 [Force Systems] Dr. Sameer Shadeed

The magnitude of the moment M is

The basic units of the moment in SI units are newton-

Moment direction: a plus

25 Statics Notes 2013 [Force Systems] Dr. Sameer Shadeed

where r is a posision vector which

The order of r × F of the vectors must be maintained

The magnitude of the moment M is gevin by:

From the shown diagram:

27 Statics Notes 2013 [Force Systems] Dr. Sameer Shadeed

The moment of a force about any

28 Statics Notes 2013 [Force Systems] Dr. Sameer Shadeed

29 Statics Notes 2013 [Force Systems] Dr. Sameer Shadeed

30 Statics Notes 2013 [Force Systems] Dr. Sameer Shadeed

Mo = Fd = 100(5 cos60o ) = 250 N.m

2. Magnitude of a horizontal force applied at A which create the

Mo = 250 = PL L = 5 sin 60o = 4.33 m

P is smallest when d in M = Fd is a maximum

33 Statics Notes 2013 [Force Systems] Dr. Sameer Shadeed

The combined moment of the

where rA and rB are position vectors

36 Statics Notes 2013 [Force Systems] Dr. Sameer Shadeed