P1-TH-C3-1 He Luc Phang - English - Compatibility Mode

Cơ
học kỹ thuật Engineering Mechanics
TĨNH HỌC STATICS
Planar force system and

equilibrium of planar
rigid bodies
Applied Mechanics
Department of Applied Mechanics
Hê lực phẳng và cân bằng vật rắn phẳng – Planar force systems & Equilibrium of a planar rigid body
MOMENT OF A FORCE ABOUT A POINT
1. Moment of a force about a point – (scalar / algebraic moment)

2. Varignon theorem
3. Calculation moment using a Cartesian coordinate system
4. Examples
Department of Applied Mechanics 3

1. Moment of a force about a point : scalar quantity

 
Moment of a force F about point O, denote mO (F )
MO
B 
O mO (F )  F  d P
d
F P
F
Convention Remarks:
• Moment is 0, if d = 0, (O is on the line of
d action of the force) .
O
h • Value of moment = 2 of area of triangle
mA
mO
A
creating by O and force.
• Moment is unchanged when a force
  slides along the line of action.
mO (F )  F  d mA(F )  F  h
2. Varignon Theorem
    B
R  F1  F2  ...  Fn 
    R C
mO (R)  mO (F1 )  mO (F2 )  ...  mO (Fn )
F1
D
Proof: for the case n = 2 F2
      A H1
R  F1  F2  mO (R)  mO (F1 )  mO (F2 ) O H2 H
   
mO (R)  2dt OAB  OA  BH , R  F1  F2  BH  CH 1  DH 2

mO (F1 )  2dt OAC  OA  CH 1, OA  BH  OA  CH 1  OA  DH 2
   
mO (F2 )  2dt OAD  OA  DH 2 mO (R)  mO (F1 )  mO (F2 )

3. Calculation moment using a Cartesian coordinate system Oxy
  
F  Fx  Fy , A(x , y ) y
F
B Fy
Moment of a force F about the origin O A

yA
   Fx
mO (F )  mO (Fx )  mO (Fy ) 
O
xA x
 x AFy  y AFx d
Moment of a force F about a point B(xB,yB)

  
m B (F )  m B (Fx )  m B (Fy )
 (x A  x B )Fy  (y A  yB )Fx
4. Examples
Example 1. Determine moment of a force about point O in figure as shown:
100 N 2m
2m
1m
O O
0.75 m 7 kN
4m
2m (b) 50 N
(a)
(c)
Solution O
In each case, we need to show the moment arm and sense of rotation (+ or -)
Figure a, MO = -(100) (2) = -200 Nm.

Figure b, MO = -(50) (0.75) = -37.5 Nm.
Figure c, MO = (7) (4 – 1)= 21.0 kNm.

4. Examples
Examples 2. Determine moment of a force 200 N about point A.
F=200N
45o
B
100 mm
A
Method 1.
d
Determine moment arm d = ?.
100 mm 100 mm
d  0.10 cos 45  0.07071 m
M A  Fd  (200 N)(0.07071 m)
 14.1 N  m
4. Examples
Method 2. Using a Cartesian coordinate system Axy

    
y
Fy F=200N
F  Fx  Fy , Fx  x , F  y
45o
Fx  F cos 45  100 2 N ,
B Fx
100 mm
Fy  F sin 45  100 2 N
A x
  
200 mm
m A (F )  m A (Fx )  m A (Fy )
M A  (200 sin 45N)(0.20 m)  (200 cos 45 N)(0.10 m)

 14.1Nm

COUPLE SYSTEM
1. Couple and Moment of a couple – scalar quantity / algebraic

moment
2. Equivalent couples
3. Composing couples and resolving couple
1. Couple and moment of a couple
Couple is a pair of parallel forces, equal in magnitude, F

opposite in direction. d
Oa B
A couple causes rotation or rotation tendency of a rigid A
F’
body.
moment of a couple is the algebraic sum of moment of

two forces about an arbitrary point in the couple plane.
C
F
B -F -F
d
d
-F F A F
 
MO  F (a  d )  Fa  Fd  C MO  mA (FB )  mB (FA )
(independent of O)
2. Equivalent couples
Theoreom. Two couple in a plane are equivalent, if they have the same algebraic moment (same magnitude
and same sense of rotation).
Proof. Q’ d4
d2
F’3
• Application of the principle of transmissibility F2
A
of a force. F’4
d1 B F3 S’’
d3
• Application of the axion: add or remove two F1
Q
equilibrium forces F2
P’  S
P F4
        F’2
(F1, F1)  (F1  P, F1  P )  (F2 , F2), F’1
       
(F2 , F2)  (F2  Q, F2  Q )  (F3 , F3)
       
(F3 , F3)  (F3  S , F3  S )  (F4 , F4). Equivalent Transformations
1. Change magitude F and moment arm d, but
keep Fd = const.
2. Translation or rotation of forces in couple plane.
3. Composing couples and resolution of a couple

Theorem: Composing some couples in a plane we obtain one couple (resultant couple)
with a moment equal to the algebraic sum of all moment.
       
(F1, F1, F2 , F2,..., Fn , Fn)  (Q,Q ) Q
F1
n
M  m1  m2  ...  mn  m k
A
k 1 F2
F’2
Proof: (for the case n = 2). B
Q’
          F’1
(F1, F1, F2 , F2)  (F1  F2 , F1  F2)  (Q,Q )
  
M  mB (Q )  mB (F1  F2 )
  In inverse way, one can resolve a couple into two
 mB (F1 )  mB (F2 )  m1  m2 or more component couples:
     
(Q,Q )  [(F1, F1) & (F2, F2)]
REDUCTION OF A PLANAR FORCE SYSTEM
1. Principle of parallel moving of a force

2. Reduction of a planar force system
3. Simple forms of a planar force system (standard forms)
4. Reduction of a planar parallel distributed force system
1. Principle of parallel moving of a force

A force vector(F) acts at A is equivalent to it acts at B and a couple having moment
equal to moment of the vector(F) at A about B.
F1 F1 F1
A A A
m
B F2 B Q F2 B Q
          
F1  (F1, F2 ,Q )  (F2 , F1,Q )  (F2 , m ) m(F1,Q )  mB (F1 )
       
F1  (F1, F2 ,Q )  (F2 , F1,Q )  (F2, m )
0 m
2. Reduction of a planar force system to a force and a couple

Theorem: (a) (b) (c) RO
F1
    F2 F2 F1
(F1, F2 ,..., Fn )  (RO , MO )
    n  r1 m2 MO
RO  F1  F2  ...  Fn   Fk , r2 O
O O
  k 1  m1
MO  mO (F1 )  mO (F2 )  ...  mO (Fn )
Proof.
  
Fk  (Fk /O , mk ), mk  mO (Fk )
     
(F1, F2 ,..., Fn )  (F1/O , F2/O ,..., Fn /O , m1, m2,..., mn )
     
 resultant force and
 (RO , MO ) resultant moment
2. Reduction of a planar force system to a force and a couple
Theorem of resultant moment changing    

(F1, F2,..., Fn )  (RO , MO )
RA    
(a)
F1 (c) (F1, F2,..., Fn )  (RA, M A )
F2
    
r1 MA
RO  F1  F2  ...  Fn  RA,
r2 A
O   
MO  mO (F1 )  mO (F2 )  ...  mO (Fn )
  
M A  mA(F1 )  mA (F2 )  ...  mA(Fn )
(b) RO   
RA  (RO , m ), m  mO (RA )
  
MO (RA, M A )  (RO , M A  m )  (RO , MO )
O   
RA  RO & MO  M A  mO (RA )


The standard form of a force system is the simplest one that replaces the original force
system but does not change the action of the force system on a rigid body.
RO
F1
F2     
MO (F1, F2 ,..., Fn )  (RO , MO )  (RA, M A  0)
r1
r2 O
O
The standard forms of a planar force system


• Equilibrium, if RO  0, M O  0.

• A couple, if RO  0, M O  0

• A force, if RO  0, M O  0
 
( RO  0, M O  0)  ( RA  0, M A  0)

• Concurrent force system:
F2 RO
F1

    RO  0
O
F3 O (F1, F2 ,..., Fn )  (RO , 0) :  
RO  0
• Planar couple system:

m1 Q        
(F1, F1, F2 , F2 ,..., Fn , Fn )  (Q, Q )
m2
M  0
-Q (m1, m2 ,..., mn )  M : 
M  0


• Parallel planar force system:
F1
F3
O A
F2
   
(F1, F2 ,..., Fn )  (RO , MO )

(RO  0, MO  0) ~ equilibrium

 
(RO  0, MO  0) ~ a couple
 
(RO  0, MO  0)
 ~ a force
Parallel planar force system of
   the same direction has a
(RO  0, MO  0)  (RA  0, M A  0) resultant force.
4. Reduction of a parallel planar force system

Parallel planar force system of the same direction has a resultant force.

n
R q(x )dx ,
R G , k

k 1
 x kGk xq(x )dx
RxC   x kGk , xC 
R
RxC   xq(x )dx  xC 
R
4. Reduction of a parallel planar force system
R  q(x )dx , ½L R
q0 N/m
q 0  const
RxC   xq(x )dx ,
R  q 0L,
 xC 
 xq(x )dx O
x
xQ 
1
L
L
R 2
x
2/3 L R 1/3 L q (x )  q 0
L
q0 N/m
1
R q L,
2 0
O 2
x
L xQ  L
3

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Cơ

Planar force system and

Department of Applied Mechanics

MOMENT OF A FORCE ABOUT A POINT

1. Moment of a force about a point – (scalar / algebraic moment)

Department of Applied Mechanics 3

1. Moment of a force about a point : scalar quantity

Department of Applied Mechanics 5

3. Calculation moment using a Cartesian coordinate system Oxy

Moment of a force F about the origin O A

Moment of a force F about a point B(xB,yB)

Department of Applied Mechanics 6

Figure a, MO = -(100) (2) = -200 Nm.

Department of Applied Mechanics 7

Examples 2. Determine moment of a force 200 N about point A.

Department of Applied Mechanics 8

Method 2. Using a Cartesian coordinate system Axy

M A  (200 sin 45N)(0.20 m)  (200 cos 45 N)(0.10 m)

Department of Applied Mechanics 9

1. Couple and Moment of a couple – scalar quantity / algebraic

Department of Applied Mechanics 10

1. Couple and moment of a couple

Couple is a pair of parallel forces, equal in magnitude, F

moment of a couple is the algebraic sum of moment of

Department of Applied Mechanics 12

3. Composing couples and resolution of a couple

REDUCTION OF A PLANAR FORCE SYSTEM

1. Principle of parallel moving of a force

Department of Applied Mechanics 14

1. Principle of parallel moving of a force

2. Reduction of a planar force system to a force and a couple

Department of Applied Mechanics 16

2. Reduction of a planar force system to a force and a couple

Theorem of resultant moment changing    

Department of Applied Mechanics 17

3. Simple forms of a planar force system (standard forms)

The standard forms of a planar force system

3. Simple forms of a planar force system (standard forms)

• Planar couple system:

Department of Applied Mechanics 19

3. Simple forms of a planar force system (standard forms)

Department of Applied Mechanics 20

4. Reduction of a parallel planar force system

4. Reduction of a parallel planar force system

Department of Applied Mechanics 22

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