Chapter 2.: Reduction and Equilibrium of Force System

THE STATICS OF MECHANICS 12/17/2007
BK
TP.HCM
Chapter 2. Reduction and Equilibrium of Force System
CHAPTER 2. Reduction and Equilibrium of

Force System
Contents
2.1. Two Basic Components of Force System

2.2. The Important Theorems of Statics
2.3. The Irreducible Forms of Force System
2.4. The Equilibrium Conditions of Force System
PhD. Tich Thien TRUONG Department of Engineering Mechanics
BK
TP.HCM

r
Examine the system of force : ( F ) , j = 1, n
j
The system of force always exists

r two basic components.
They are the principal vector R ′ and principal moment
vector for a point M O .
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PhD. Tich Thien TRUONG 1

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r
2.1.1. The principal vector R ′
2.1.1.1. Definition
The principal vector of system of forces is total vector of
all force vectors in system.
r n r
R ′ = ∑ Fj (2.1)
j=1
r
2 1 1 2 Properties
2.1.1.2. P ti off principal t R′
i i l vector
•The principal vector of system of forces is constant
vector. This is the first invariable of system of forces.
•The principal vector of system of forces is free vector.
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2.1.2. The p
principal
p moment vector M O
2.1.2.1. Definition
The principal moment vector for a point is total moment

vector of all moment vector of every force for that point.
n
MO = ∑ MO F j
j=1
( ) (2 2)
(2.2)

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2.1.2.2. Properties of principal moment vector

•The principal moment vector of system of forces for a
point is dependent on the position of that point.
•The projection of principal moment vector on the
direction of the principal vector is constant. This is the
second invariable of system of forces.
MO r Projection
r
R′ R ′
of M O ∗
O Projection O*● M O∗
● of M O
Figure 2.1
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2.2.1. The theorem for three-force system
If a mechanical system is in equilibrium under the

effect of three-force system, three-force system will
simultaneous satisfy two conditions as follows:
* Three forces are coplanar.
coplanar
* Three forces are either parallel or concurrent.
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A1
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2.2.2. The theorem for parallel movement of force
A force can be translated to a new position which does

not lie on the old action line if a moment vector of old
force for new point is added.
(F) B
(F) A B
●
A
●
M B (F) A
Figure 2.2
(F) A [(F) A , M B (F) A ] (2.3)
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2.2.3. The theorem for reducing the system of forces to a

point
When reducing to a point, the system of forces is

equivalent with its two principal components which are
placed at that point.
r r uur r
(F j ) [(R ′), M O (F j )], j = 1, n ∀O ∈ R 3 ( )
(2.4)
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A1 Admin, 6/26/2007
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There are four irreducible forms as follows:
2.3.1. First irreducible form: Equilibrium system of forces
This irreducible form will occur if both two basic

components of force system equal zero.
r r uur r
R ′ = 0 and M O = 0 ∀O ∈ R 3 (2.5)
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2.3.2. Second irreducible form: system

y of forces is
tantamount to a couple
This irreducible form will occur if only principal vector

of force system equals zero.
r r uur uuuuur r
R ′ = 0 and M O = const ≠ 0 ∀O ∈ R 3 (2 6)
(2.6)
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2.3.3. Third irreducible form: system of forces always has

a resultant
lt t
This irreducible form will occur if the principal vector
of force
r system differs zero vector and the dot product
of R ′ and M O equals zero.
r r r uur
R ′ ≠ 0 and R ′.M O = 0, ∀O ∈ R 3 (2.7)
2.3.3.1. Case 1
uur r ur r ur
M O = 0 ⇒ R = R ′ and R is placed at point O (2.8)
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2.3.3.2. Case 2
uur r r uur
MO ≠ 0 ⇒ R′ ⊥ MO (2.9)
uur r r* r r*
M O is replaced by a couple (R, R ) so that (R ′, R ) ≈ 0 (see
figure 2.3). The distance: d = OO* = MO/R’.
uur r
r R ′r r
MO R′ R R
O● 900
O r * d = MO ● ●
● O*
R R′ O*
Figure 2.3
ur
Then R will be placed at point O*, see figure 2.3.
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2.3.4. Fourth irreducible form: The spiral system of forces

This irreducible form will occur if the principal vector
of force
r system differs zero vector and the dot product
of R ′ and M O also differs zero (see figure 2.4).
uur r
MO R′
ϕ ≠ 900
O●
Figure 2.4
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2.4. The Equilibrium

q Conditions of Force System
y
2.4.1. The general equilibrium conditions of system of forces

r r uur r
R ′ = 0 and M O = 0 are the necessary and sufficient
conditions for a system of forces being in equilibrium (see
f
formulal 2.10).
2 10)
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⎧ n ⎧ n r
R ′ = ∑
⎪ x j=1 jx F = 0 (1) M ∑
⎪ Ox j=1 x j ) = 0 (4)
= M (F
⎪ ⎪
r r ⎪ n uur r ⎪ n r
R ′ = 0 ⇔ ⎨R ′y = ∑ Fjy = 0 (2); M O = 0 ⇔ ⎨M Oy = ∑ M y (Fj ) = 0 (5)
⎪ j=1
⎪ j=1
⎪ n ⎪ n r
⎪R ′z = ∑ Fjz = 0 ((3)) ⎪M Oz = ∑ M z ((Fj ) = 0 ((6))
⎩ j=1 ⎩ j=1
(2.10)
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2.4.2. The equilibrium conditions in particular cases
2.4.2.1. The planar system of forces

Examine a system of
forces in 2D. A 2D ⎧ n
′ ∑
⎪ x j=1 Fjx = 0 (1)
R =
Cartesian coordinate
system (Oxy) is set up on ⎪
⎪ n
the plane of force system.
system ⎨R ′y = ∑ Fjy = 0 (2) (2 11)
(2.11)
The useful equilibrium ⎪ j=1
conditions include the ⎪ n r n r

following equations ⎪ Oz ∑ z j ∑ M O (Fj ) = 0 (6)
M = M (F ) =
⎩ j=1 j=1
(2.11):
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2.4.2.2. The system of parallel forces

Examine a system of
parallel forces in 3D. A 3D ⎧ n
R ′
⎪ y ∑ = Fjy = 0 (2)
Cartesian coordinate j=1
system Oxyz is set up so ⎪
⎪ n r
that the axis y is parallel to ⎨ Ox
M = ∑ M x (F j) = 0 (4) (2.12)
the direction of forces. The ⎪ j=1
useful equilibrium ⎪ n r
conditions include the ⎪ Oz
M = ∑ M z (F j) = 0 (6)
⎩ j=1
following equations (2.12):
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If the system of forces is parallel to the axis y and

coplanar
p in the plane
p Oxyy then the useful equilibrium
q
conditions include the following equations (2.13):
⎧R ′ = n F = 0 (2)
⎪⎪ y ∑ j=1
jy
⎨ n r n r (2.13)
⎪M Oz = ∑ M z (Fj ) = ∑ M O (Fj ) = 0 (6)
⎪⎩ j=1 j=1
If the system of forces is coaxial to the axis y then the
useful equilibrium condition includes the following only
equation (2.14):
⎧ n
⎨R ′y = ∑ Fjy = 0 (2) (2.14)
⎩ j=1
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2.4.2.3. The system of concurrent forces

Examine a system of
concurrent forces in 3D. A ⎧ n
R ′
⎪ x ∑ = Fjx = 0 (1)
3D Cartesian coordinate j=1
system Oxyz is set up so r r ⎪
⎪ n
that the origin O is R ′ = 0 ⇔ ⎨R ′y = ∑ Fjy = 0 (2); (2.15)
concurrent point of forces. ⎪ j=1
The useful equilibrium ⎪ n

⎪ z
R ′ = ∑ Fjz = 0 (3)
conditions include the ⎩ j=1
following equations (2.15):
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If the system of forces is concurrent at point O and

coplanar on the plane Oxy then the useful equilibrium
conditions include the following equations (2.16):
⎧R ′ = n F = 0 (1)
⎪⎪ x ∑ j=1
jx
⎨ n
((2.16))
⎪R ′y = ∑ Fjy = 0 (2)
⎪⎩ j=1
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The End of Chapter 2!
Thank You for Your Attention!
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Chapter 2.: Reduction and Equilibrium of Force System

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THE STATICS OF MECHANICS 12/17/2007

CHAPTER 2. Reduction and Equilibrium of

2.1. Two Basic Components of Force System

2.4. The Equilibrium Conditions of Force System

PhD. Tich Thien TRUONG Department of Engineering Mechanics

2.1. Two Basic Components of Force System

2.1. Two Basic Components of Force System

The system of force always exists

PhD. Tich Thien TRUONG 1

2.1. Two Basic Components of Force System

2.1. Two Basic Components of Force System

The principal moment vector for a point is total moment

PhD. Tich Thien TRUONG Department of Engineering Mechanics

PhD. Tich Thien TRUONG 2

2.1. Two Basic Components of Force System

2.1.2.2. Properties of principal moment vector

2.2. The Important Theorems of Statics

2.2. The Important Theorems of Statics

If a mechanical system is in equilibrium under the

PhD. Tich Thien TRUONG 3

2.2. The Important Theorems of Statics

2.2.2. The theorem for parallel movement of force

A force can be translated to a new position which does

2.2. The Important Theorems of Statics

2.2.3. The theorem for reducing the system of forces to a

When reducing to a point, the system of forces is

PhD. Tich Thien TRUONG 4

2.3. The Irreducible Forms of Force System

2.3. The Irreducible Forms of Force System

2.3.1. First irreducible form: Equilibrium system of forces

This irreducible form will occur if both two basic

2.3. The Irreducible Forms of Force System

2.3.2. Second irreducible form: system

This irreducible form will occur if only principal vector

PhD. Tich Thien TRUONG 5

2.3. The Irreducible Forms of Force System

2.3.3. Third irreducible form: system of forces always has

2.3. The Irreducible Forms of Force System

PhD. Tich Thien TRUONG 6

2.3. The Irreducible Forms of Force System

2.3.4. Fourth irreducible form: The spiral system of forces

2.4. The Equilibrium Conditions of Force System

2.4. The Equilibrium

2.4.1. The general equilibrium conditions of system of forces

PhD. Tich Thien TRUONG 7

2.4. The Equilibrium Conditions of Force System

2.4. The Equilibrium Conditions of Force System

2.4.2. The equilibrium conditions in particular cases

2.4.2.1. The planar system of forces

conditions include the ⎪ n r n r

PhD. Tich Thien TRUONG 8

2.4. The Equilibrium Conditions of Force System

2.4.2.2. The system of parallel forces

2.4. The Equilibrium Conditions of Force System

If the system of forces is parallel to the axis y and

PhD. Tich Thien TRUONG 9

2.4. The Equilibrium Conditions of Force System

2.4.2.3. The system of concurrent forces

The useful equilibrium ⎪ n

2.4. The Equilibrium Conditions of Force System

If the system of forces is concurrent at point O and

PhD. Tich Thien TRUONG 10

PhD. Tich Thien TRUONG Department of Engineering Mechanics