(Applied Mechanics) Chapter 3 - Equivalent Systems of Force

EDJ18503 / DNT122
APPLIED MECHANICS
CHAPTER 3 :
EQUIVALENT SYSTEMS
OF FORCE
BY : NOR SHAIFUDIN BIN ABDUL HAMID

CHAPTER OBJECTIVES
 To discuss the concept of the moment of a force and
show how to calculate it in two and three
dimensions.
 To define the moment of a couple.
 To present methods for determining the resultants of
non-concurrent force systems.

 To indicate how to reduce a simple distributed
loading to a resultant force having a specified
location.
2
CHAPTER OUTLINE
 Moment of a Force – Scalar Formulation
 Cross Product
 Moment of Force – Vector Formulation
 Principle of Moments
 Moment of a Couple
 System of Resultants Force and Couples
 System of Distributed Force
3
3.1 Moment of a Force – Scalar
Formulation
 Moment of a force about a
point or axis provides a
measure of the tendency of the
force to cause a body to rotate
about the point or axis
 Torque – tendency of rotation

caused by Fx or simple moment
(Mo) z
4
Formulation
Magnitude
 For magnitude of MO,
MO = Fd (Nm)
where d = perpendicular distance
from O to its line of action of force
Direction
 Direction is specified by using “right
hand rule”
- fingers of the right hand are curled to follow the sense
of rotation when force rotates about point O
5
Formulation
Resultant Moment
 Resultant moment, MRo = moments of all the forces
MRo = ∑Fd
6
Formulation
Example 3.1.1
For each case, determine the moment of the force about
point O
M o  (100 N )(2m) M o  (50 N )(0.75m)

 200 Nm(CW )  37.5 Nm(CW )
7
Formulation
M o  (40kN )(4  2 cos 30m) M o  (60 N )(1sin 45 m)

 229 Nm(CW )  42.4 N .m(CCW )
8
Formulation
M o  (7kN )(4m  1m)

 21.0kN .m(CCW )
9
Formulation
Example 3.1.2
Determine the resultant moment of

the four forces acting on the rod
shown in figure about point O
 M RO   Fd ;
 50 N (2m)  60 N (0)  20 N (3m sin 30)  40 N (4  3m cos 30)
 333.92 Nm @ 333.92 Nm (CW )
10
3.2 Cross Product
Cartesian Vector Formulation

 In a similar manner,
iXj=k i X k = -j iXi=0
j X k = i j X i = -k jXj=0
k X i = j k X j = -i kXk=0
 Use the circle for the results.

Crossing CCW yield positive
and CW yields negative results
11
3.2 Cross Product
Laws of Operations
 Consider cross product of vector A and B
A X B = (Axi + Ayj + Azk) X (Bxi + Byj + Bzk)
0 k -j
= AxBx (i X i) + AxBy (i X j) + AxBz (i X k)
-k 0 i
+ AyBx (j X i) + AyBy (j X j) + AyBz (j X k)
j -i 0
+ AzBx (k X i) +AzBy (k X j) +AzBz (k X k)
= (AyBz – AzBy)i – (AxBz - AzBx)j + (AxBy – AyBx)k

12
3.2 Cross Product
 In determinant form,
  
i j k
 
A  B  Ax Ay Az
Bx By Bz
= (AyBz – AzBy)i – (AxBz - AzBx)j + (AxBy – AyBx)k

13
3.3 Moment of Force - Vector
Formulation
 Moment of force F about point O can be expressed
using cross product
MO = r X F
where r represents position vector from O to
any point lying on the line of action of F
14
Formulation
So, using the cross product, a
moment can be expressed as
By expanding the above equation using 2  2 determinants (sample

units are N - m or lb - ft)
MO = (ry FZ - rZ Fy) i  (rx Fz - rz Fx ) j + (rx Fy - ry Fx ) k
The physical meaning of the above equation becomes evident by

considering the force components separately and using a 2-D
formulation.
15
Formulation
Magnitude
For magnitude of cross product,
MO = rF sinθ
where θ is the angle measured between tails of r and F
Treat r as a sliding vector. Since d = r sinθ,

MO = rF sinθ
= F (rsinθ)
= Fd
16
Formulation
Direction
 Direction and sense of MO are
determined by right-hand rule
- Extend r to the dashed position
- Curl fingers from r towards F
- Direction of MO is the same
as the direction of the thumb
17
Formulation
 Resultant moment of forces about point O can be
determined by vector addition
MRo = ∑(r x F)
18
Formulation
Example 3.3.1
Determine the moment produced

by the force F about point O.
Express the result as a Cartesian
vector.
19
Formulation
Solution
Expressed Force, F as a Cartesian vector

 {4i  12 j  12k}m 
F  F u AB  2kN  
 (4m) 2  (12m) 2  (12m) 2 
 
 {0.46i  1.38 j  1.38k}kN
rA or rB can be used to determine the moment at O

rA  {12k} m
rB  {4i  12 j} m
20
Formulation
Solution
M O  rB  F
i j k
 4 12 0
Using rB
0.46 1.38  1.38
 {12(1.38)  0(1.38)}i  {4(1.38)  0(0.46)} j  {4(1.38)  12(0.46)}k
 {16.56i  5.52 j}kN  m
M O  rA  F
i j k
Using rA  0 0 12
0.46 1.38  1.38
 {0(1.38)  12(1.38)}i  {0(1.38)  12(0.46)} j  {0(1.38)  0(0.46)}k
 {16.56i  5.52 j}kN  m
21
Formulation
Example 3.3.2
Two forces act on the rod. Determine the resultant
moment they create about the flange at O. Express the
result as a Cartesian vector.
22
Formulation
Solution
Position vectors are directed from point O to each force as
shown.
These vectors are
rA  {5 j} m
rB  {4i  5 j  2k}m
The resultant moment about O is

M O   (r  F )  rA  F  rB  F
i j k i j k
 0 5 0  4 5 2
 60 40 20 80 40  30
 {30i  40 j  60k} kN  m
23
3.4 Principles of Moments
Also known as Varignon’s Theorem
“Moment of a force about a point is equal to the sum of the moments
of the forces components about the point”
Since F = F1 + F2,
MO = r X F1 + r X F2
= r X (F1 + F2) MO = FXY - FYX
=rXF
24
Example 3.4.1
Determine the moment of the force about point O.
25
Solution
Method 1:
From trigonometry
d = (3m) sin 75˚ = 2.898 m
Thus,
MO = Fd = (5kN)(2.898m)
= 14.5 kNm (CW)
26
Solution
Method 2:
 Resolve 5kN force into x and y
components
 Principle of Moments
MO = ∑Fd
+MO = - Fxdy - Fydx

= -(5 cos 45˚kN)(3sin 30˚m) – (5 sin 45˚kN)(3 cos 30˚m)
=-14.5kN.m @ 14.5kN.m (CW)
27
Example 3.4.2
Given: A 100 N force is applied

to the frame.
Find: The moment of the force
at point O.
Plan:
1) Resolve the 100 N force along x and y-axes.
2) Determine MO using a scalar analysis for the two force components and
then add those two moments together.
28
Solution:
Fy
Fx
3
  Fy   (100 N ) dy
5
 4
 Fx  (100 N )
5
dx
3 4
 M o   (100 N )(5m)  (100 N )(2m)
5 5
 460 Nm @ 460 Nm (CW )
29
Example 3.4.3
o Given: F1= {100 i - 120 j + 75 k} kN
F2= {-200 i +250 j + 100 k} kN
Find: Resultant moment by the forces

about point O.
Plan:
1) Find F = F1 + F2 and rOA.
2) Determine MO = rOA  F.
30
Solution:
 First, find the resultant force vector F
F = F1 + F2
= { (100 - 200) i + (-120 + 250) j
+ (75 + 100) k} kN
= {-100 i + 130 j + 175 k} kN
 Find the position vector rOA

rOA = {4 i + 5 j + 3 k} m
 Then find the moment by using the vector cross product.
i j k
MO = 4 5 3
-100 130 175
= [{5(175) – 3(130)} i – {4(175) – 3(-100)} j + {4(130) – 5(-100)} k] kN m
= {485 i – 1000 j + 1020 k} kN m
PRINCIPLE OF MOMENTS
CLASS PROBLEM SOLVING
PROBLEM : In each case ,determine the moment of the force about point O
Fy Fy
dx dx
M o  (100 N )(2m) M o  (100 N )(1m)

 200 Nm(CCW )  100 Nm(CW )
32
dx
Fy
Fy
dx
3 4
M o  (500 N )(2m) M o  (500 N )(3m)
5 5
 600 Nm(CW )  1200 Nm(CCW )
33
3
M o  (100 N )(5m)
5
 300 Nm(CW )
dx
Fy
Fx
M o  (100 N )(0m)
0
34
dx
Fy
Fx dy
dy
Fx
dx
Fy
4 3 4 3
Mo  (500 N )(1m)  (500 N )(2m) Mo  (500 N )(1m)  (500 N )(2m)
5 5 5 5
 200 Nm @ 200 Nm(CW )  200 Nm @ 200 Nm(CW )
35
Fy
Fx
4 3
M o   (500 N )(3m)  (500 N )(1m)
dy 5 5
 900 Nm @ 900 Nm(CW )
dx
36
PROBLEM 1 :
Given: A 100 N force is applied to
y
x
the hammer.
Find: The moment of the force at A.
Plan:
Since this is a 2-D problem:
1) Resolve the 100 N force along the
handle’s x and y axes.
2) Determine MA using a scalar analysis.
37
y
x
Solution:
+  Fy = 100 sin 30° N
+  Fx = 100 cos 30° N
+ MA = {–(100 cos 30°)N (0.45m) – (100 sin 30°)N (0.125 m)}

= – 45 N·m = 45 N·m (clockwise or CW)
38
3.5 Moment of a Couple
A couple is defined as two parallel forces with the same

magnitude but opposite in direction separated by a
perpendicular distance “d.”
39
Scalar Formulation
Magnitude of couple moment
M = Fd
Direction and sense are determined

by right hand rule
In all cases, M acts perpendicular to

plane containing the forces
40
Vector Formulation
For couple moment,
M=rXF
If moments are taken about point A, moment of

–F is zero about this point
r is crossed with the force to which it is directed
41
Equivalent Couples
 2 couples are equivalent if they produce the same moment
 Forces of equal couples lie on the same plane or plane
parallel to one another
42
Resultant Couple Moment
the moment of a couple is a free vector. It
can be moved anywhere on the body and
have the same external effect on the body.
Moments due to couples can be added
together using the same rules as adding any
vectors.
For resultant moment of two couples at
point,
MR = M1 + M2
For more than 2 moments,
MR = ∑(r X F)
43
Example 3.5.1
Determine the couple moment acting on the pipe.
Segment AB is directed 30 below the x–y plane.
44
Solution I (Vector Analysis)
Take moment about point O,
M = rA X (-250k) + rB X (250k)
= {(0.8j) X (-250k)} + {(0.6cos30ºi
+ 0.8j – 0.6sin30ºk) X (250k)}
= {-130j}Nm
Take moment about point A
M = rAB X (250k)
= (0.6cos30°i – 0.6sin30°k)
X (250k)
= {-130j}N.m
45
Solution II (Scalar Analysis)
Take moment about point A or B,

M = Fd = 250N(0.5196m)
= 129.9N.cm
Apply right hand rule, M acts in the –j
direction
M = {-130j}N.cm
46
Example 3.5.2 (Scalar Analysis)
Given: Two couples act on the
beam with the geometry
shown.
Find: The magnitude of F so that
the resultant couple moment
is 1.5 kNm clockwise.
Plan:
1) Add the two couples to find the resultant couple.
2) Equate the net moment to 1.5 kNm clockwise to find F.
47
Solution:
The net moment is equal to:

+  M = – F (0.9m) + (2kN) (0.3m)
= – (0.9m) F + 0.6kNm
– 1.5 kNm = – 0.9 F + 0.6
Solving for the unknown force F, we get

F = 2.33 kN
48
Example 3.5.3 (Vector Analysis)
Given: A 450 N force couple acting
on the pipe assembly.
Find: The couple moment in Cartesian
vector notation.
Plan:
1) Use M = r  F to find the couple moment.
2) Set r = rAB and F = FB.
3) Calculate the cross product to find M.
49
Solution
rAB = { 0.4 i } m
FB = {450(4/5) j  450(3/5) k} N
= {0 i + 360 j  270 k} N rAB

M = rAB  FB
i j k FB
= 0.4 0 0 N·m
0 360 270
= [{0(-270) – 0(360)} i – {4(-270) – 0(0)} j + {0.4(360) – 0(0)} k] N·m
= {108 j + 144 k} N·m
50
MOMENT OF A COUPLE
CONCEPT QUIZ
1. A couple is applied to the beam as shown. Its moment equals _____ N·m.
50 N
A) 50 B) 60 5
3
C) 80 D) 100 4
1m 2m 5
3
4 50 N
2. You can determine the couple moment as

M=rF
If F = { -20 k} lb, then r is
A) rBC B) rAB
C) rCB D) rBA
51
MOMENT OF A COUPLE
Problem 1
Given: Two couples act on the
beam with the geometry
shown.
Find: The resultant couple
»73.98 kN·m (CW )
Solution :
4
 M R  15kN cos 30 (2)   30kN 2m 
5
 73.98kNm  73.98kNm(CW )
52
MOMENT OF A COUPLE
Problem 2
Solution :
MR  r  F
i j k
 100 500 0 Nmm
0 0 15
 500(15)i  j (100)(15)Nmm
Given: F = {15 k} N and – F = {– 15 k} N  7500i  1500jNmm
Find: The couple moment acting on the  7.5i  1.5j Nm
pipe assembly using Cartesian vector
notation. »{ 7.5 i – 1.5 j } Nm
53
3.6 Resultants of a Force and Couple System
When several forces and couple moments

act on a body, you can move each force
and its associated couple moment to a
common point O.
add all the forces and couple moments

together and find one resultant force-
couple moment pair.
54
WR = W1 + W2
(MR)o = W1 d1 + W2 d2
If the force system lies in the x-y plane (a 2-D case), then the
reduced equivalent system can be obtained using the following
three scalar equations.
55
Example 3.6.1
Given: A 2-D force system with
geometry as shown.
Find: The equivalent resultant force
and couple moment acting at A
and then the equivalent single
force location measured from A.
Plan:
1) Sum all the x and y components of the forces to find FRA.
2) Find and sum all the moments resulting from moving each force
component to A.
3) Shift FRA to a distance d such that d = MRA/FRy
56
Solution
3
   FRx  50 sin 30  (100)  85kN
5
4
   FRy  200  50 cos 30 - (100)  163.3 kN FR
5
4
 M RA  200 (3)  50 cos 30 (9) – (100)(6)
5
 509.7 kN.m
FR  ( 852  163.3 2 )  184 kN

 163.3 
  tan-1    62.5
 85 
The equivalent single force FR can be located at a distance d measured from A.
M RA 509.7
d   3.12m
FRy 163.3 57
Example 3.7.2 Given: The slab is subjected to three

parallel forces.
Find: The equivalent resultant force
and couple moment at the
origin O. Also find the location
(x, y) of the single equivalent
resultant force.
Plan:
1) Find FRO = F = FRzo k
2) Find MRO =  (r  F) = MRxO i + MRyO j
3) The location of the single equivalent resultant force is
given as x = – MRyO/FRzO and y = MRxO/FRzO 58
Solution
FRO = {100 k – 500 k – 400 k} = – 800 k N
MRO = (3 i 100 k) + ((4 i + 4 j)  (-500 k))
+ (4 j  -400 k)
= {– 300 j + 2000 j – 2000 i – 1600 i}
= { – 3600 i + 1700 j } N·m
The location of the single equivalent resultant force is given as,

(x i +y j)  (-800 k) = – 3600 i + 1700 j
(800x) j – (800y) i = – 3600 i + 1700 j
x= 1700/800 = 2.13 m y= -3600/-800 = 4.50 m
59
RESULTANTS OF A FORCE AND COUPLE SYSTEM
Problem 1
Given: A 2-D force and couple
system as shown.
Find: The equivalent resultant
force and couple moment
acting at A.
Plan:
1) Sum all the x and y components of the two forces to find FRA.
2) Find and sum all the moments resulting from moving each force
to A and add them to the 1500 Nm free moment to find the
resultant MRA . » FRA = 1302 N » ϴ= 84.5° » MRA = 9535 Nm (CW)
60
Solution
1) Summing the force components:
+ Fx = 450 (cos 60) – 700 (sin 30)
= – 125 N
+  Fy = – 450 (sin 60) – 300 – 700 (cos 30)
= – 1296 N
2) Now find the magnitude and direction of the resultant.
FRA = (1252 + 12962)1/2 = 1302 N and  = tan-1 (1296 /125)
= 84.5°
+ MRA = 450 (sin 60) (2) + 300 (6) + 700 (cos 30) (9) + 1500
= 9535 Nm 61
Problem 2
Plan:
i) Find FRO =  Fi = F1 + F2
ii) Find MRO =  MC +  ( ri  Fi )
where,
Given: Forces F1 and F2 are MC are any free couple moments (none in
this example).
applied to the pipe.
ri are the position vectors from the point
Find: An equivalent resultant O to any point on the line of action of Fi .
force and couple moment
» FR0 = {–30 i + 15 j + 45 k} kN
at point O. » MR0 = {80 i – 87.5 j + 102.5 k} kN·m
62
Solution
F1 = {– 20 i –10 j + 25 k} kN
F2 = {–10 i + 25 j + 20 k} kN
FRO = {–30 i + 15 j + 45 k} kN
r1 = {1.5 i + 2 j} m
r2 = {1.5 i + 4 j + 2 k} m
Then, MRO =  ( ri  Fi ) = r1  F1 + r2  F2
i j k i j k
MRO ={ 1.5 2 0 + 1.5 4 2 } kN·m
-20 -10 25 -10 25 20
= {(50 i – 37.5 j + 25 k ) + (30 i – 50 j + 77.5 k )} kN·m
= {80 i – 87.5 j + 102.5 k} kN·m 63
3.7 Reduction Distributed Loading
DISTRIBUTED LOADING In many situations a surface area
of a body is subjected to a
distributed load. Such forces are
caused by winds, fluids, or the
weight of items on the body’s
surface.
We will analyze the most common
case of a distributed pressure
loading. This is a uniform load
along one axis of a flat rectangular
body.
In such cases, w is a function of x
and has units of force per length.
64
Magnitude of Resultant Force
 FR = ∑F
 Integration is used for infinite number of parallel
forces d F acting along the plate

 For entire plate length,
  FR  F ; FR   w( x)dx   dA  A
L A
 Magnitude of resultant force is equal to the total area

A under the loading diagram w = w(x)
65
Location of Resultant Force
 MR = ∑MO
 Location x of the line of action of FR can be
determined by equating the moments of the force

resultant and the force distribution about point O
 d F produces a moment of
xdF = x w(x) dx about O

 For the entire plate,
+ M Ro  M O ;  x FR    xw( x)dx
L
66
Location of Resultant Force
 Solving,
 xw( x)dx  xdA

x L
 A
 w( x)dx
L
 dA
A
 Resultant force has a line of action which passes

through the centroid C (geometric center) of the area
defined by the distributed loading diagram w(x)
67
Example 3.8.1
Finding the area and its centroid for each case
RECTANGULAR TRIANGULAR
Area FR = 10kN/m  5m = 50kN FR = (1/2) (600) (6) = 1800 N
Centroid x = 5/2 =2.5 m. x = 6 – (1/3) 6 = 4 m
Please note that the centroid in a right
triangle is at a distance one third the
width of the triangle as measured from
its base.
68
Example 3.8.2
Given:
The loading on the beam as shown.
Find:
The equivalent force and its location
from point A.
Plan:
1) The distributed loading can be divided into three parts. (one rectangular
loading and two triangular loadings).
2) Find FR and its location for each of these three distributed loads.
3) Determine the overall FR of the three point loadings and its location.
69
Solution For the left triangular loading of height
800 N/m and width 12 m,
FR1 = (0.5) 800 Χ 12 = 4800 N

x1 = (2/3) (12) = 8 m from A
For the top right triangular loading of

For the rectangular loading of height
height 300 N/m and width 9 m,
500 N/m and width 9 m,
FR2 = (0.5) (300) (9) = 1350 N
FR3 = (500) (9) = 4500 N
and its line of action is at
and its line of action is at
x2 = (1/3) (9)+12 = 15 m from A
x3 = (1/2) (9)+12 = 16.5 m from A
70
Solution 15 m
1350 N
4800 N 4500 N
16.5 m
8m
DNT122 – Applied Mechanics Farah Hanan Mohd Faudzi | PPD | UniMAP 71

REDUCTION DISTRIBUTED LOADING
CONCEPT QUIZ
F
1. What is the location of FR, i.e., the R
distance d? A B A B
A) 2 m B) 3 m C) 4 m d
3m 3m
D) 5 m E) 6 m
2 
d  3    3   5m
3 
72
REDUCTION DISTRIBUTED LOADING
CONCEPT QUIZ
2. FR = ____________.
100 N/m
A) 12 N B) 100 N
C) 600 N D) 1200 N
12 m
1
FR   (100 N / m)  (12m)  600 N
2
3. x = __________. FR
A) 3 m B) 4 m
C) 6 m D) 8 m
x
1
x   (12m)  4m
3
73
BY : NOR SHAIFUDIN BIN ABDUL HAMID

(Applied Mechanics) Chapter 3 - Equivalent Systems of Force

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EDJ18503 / DNT122

BY : NOR SHAIFUDIN BIN ABDUL HAMID

 To present methods for determining the resultants of

non-concurrent force systems.

 Moment of Force – Vector Formulation

 System of Resultants Force and Couples

 System of Distributed Force

 Torque – tendency of rotation

M o  (100 N )(2m) M o  (50 N )(0.75m)

M o  (40kN )(4  2 cos 30m) M o  (60 N )(1sin 45 m)

M o  (7kN )(4m  1m)

Determine the resultant moment of

Cartesian Vector Formulation

 Use the circle for the results.

= (AyBz – AzBy)i – (AxBz - AzBx)j + (AxBy – AyBx)k

= (AyBz – AzBy)i – (AxBz - AzBx)j + (AxBy – AyBx)k

By expanding the above equation using 2  2 determinants (sample

The physical meaning of the above equation becomes evident by

Treat r as a sliding vector. Since d = r sinθ,

Determine the moment produced

Expressed Force, F as a Cartesian vector

rA or rB can be used to determine the moment at O

+MO = - Fxdy - Fydx

Given: A 100 N force is applied

Find: Resultant moment by the forces

 Find the position vector rOA

M o  (100 N )(2m) M o  (100 N )(1m)

+  Fy = 100 sin 30° N

+  Fx = 100 cos 30° N

+ MA = {–(100 cos 30°)N (0.45m) – (100 sin 30°)N (0.125 m)}

A couple is defined as two parallel forces with the same

Direction and sense are determined

In all cases, M acts perpendicular to

If moments are taken about point A, moment of

r is crossed with the force to which it is directed

Take moment about point A or B,

The net moment is equal to:

Solving for the unknown force F, we get

= {0 i + 360 j  270 k} N rAB

2. You can determine the couple moment as

When several forces and couple moments

add all the forces and couple moments

FR  ( 852  163.3 2 )  184 kN

Example 3.7.2 Given: The slab is subjected to three

The location of the single equivalent resultant force is given as,

 Integration is used for infinite number of parallel

forces d F acting along the plate

 Magnitude of resultant force is equal to the total area

 Location x of the line of action of FR can be

determined by equating the moments of the force

xdF = x w(x) dx about O

 xw( x)dx  xdA

 Resultant force has a line of action which passes

FR1 = (0.5) 800 Χ 12 = 4800 N

For the top right triangular loading of

DNT122 – Applied Mechanics Farah Hanan Mohd Faudzi | PPD | UniMAP 71

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