Eleventh Edition

VECTOR MECHANICS FOR ENGINEERS:

3
CHAPTER

STATICS
Ferdinand P. Beer
E. Russell Johnston, Jr.
David F. Mazurek Rigid Bodies:
Equivalent Systems
of Forces

Copyright © McGraw-Hill Education. Permission required for reproduction or display.

 Ch.3 Contents: Part 1
 Introduction
 External and Internal Forces
 Principle of Transmissibility: Equivalent Forces
 Moment of a Force About a Point
 Vector Products of Two Vectors
 Varignon’s Theorem
 Rectangular Components of the Moment of a Force
 Sample Problems

1-2
 Introduction
 Treatment of a body as a single particle is not always
possible. In general, the size of the body and the specific
points of application of the forces must be considered.
 Most bodies in elementary mechanics and structures are
assumed to be rigid, i.e., the actual deformations are small
and do not affect the conditions of equilibrium or motion of
the body.

3-3
 Introduction
 Current chapter describes the effect of forces exerted on a
rigid body and how to replace a given system of forces with
a simpler equivalent system.
 moment of a force about a point
 moment of a force about an axis
 moment due to a couple
 Any system of forces acting on a rigid body can be replaced
by an equivalent system consisting of one force acting at a
given point and one couple.

3-4
 External and Internal Forces
 Forces acting on rigid bodies
are divided into two groups:
 External forces
 Internal forces

 External forces are shown

in a free-body diagram.

 Each external force can impart

a motion of translation or
rotation, or both.
3-5
Principle of Transmissibility: Equivalent Forces
 Principle of Transmissibility -
Conditions of equilibrium or motion are
not affected by transmitting a force
along its line of action.
NOTE: F and F’ are equivalent forces.

 Moving the point of application

of the force F to the rear bumper
does not affect the motion or the
other forces acting on the truck.

 Principle of transmissibility
may not always apply in
determining internal forces and
deformations.
3-6
Moment of a Force about a Point- Examples

3-7
 Vector Product of Two Vectors- Cross
Products
 Concept of the moment of a force about a point is
more easily understood through applications of the
vector product or cross product.

 Vector product of two vectors P and Q is defined as

the vector V which satisfies the following conditions:
1. Line of action of V is perpendicular to plane containing P
and Q.
2. Magnitude of V is V = PQ sin θ
3. Direction of V is obtained from the right-hand rule.

 Vector products:
- are not commutative,
- are distributive,
- are not associative,
Q  P   P  Q 
P  Q1  Q2   P  Q1  P  Q2
P  Q  S  P  Q  S 
3-8
Vector Products: Rectangular Components
 Vector products of Cartesian unit vectors,

       
i i  0 j  i  k k i  j
       
i j k j j 0 k  j  i
       
i k   j j k  i k k  0
3-9
Vector Products: Rectangular Components
 Vector products in terms of rectangular coordinates
 
V  Px i  Py j  Pz k  Qx i  Q y j  Qz k 
    

  
V  Py Qz  Pz Q y i  Pz Qx  Px Qz  j

 Px Q y  Py Qx k
  
i j k

V  Px Py Pz
Qx Q y Qz
3 - 10
 Vector Product-Determinant
 The cross product can be written as a determinant.

 Each component can be determined using 2  2 determinants.

3 - 11
 Moment of a Force About a Point
 The moment of F about O is defined as
MO  r  F
 The moment vector MO is perpendicular
to the plane containing O and the force F.

 Magnitude of MO measures the tendency of

the force to cause rotation of the body about
an axis along MO.
M O  rF sin  Fd
 The sense of the moment may be determined
by the right-hand rule.
3 - 12
 Moment of a Force About a Point
 Two-dimensional structures have length and width
but negligible depth.

 The plane of the structure contains the point O and

the force F. MO, the moment of the force about O
is perpendicular to the plane.

 If the force tends to rotate the structure

counterclockwise, the sense of the moment
vector is out of the plane of the structure and the
magnitude of the moment is positive.

 If the force tends to rotate the structure clockwise,

the sense of the moment vector is into the plane of
the structure and the magnitude of the moment is
negative.
3 - 13
 Varignon’s Theorem
 The moment about a give point O of the
resultant of several concurrent forces is
equal to the sum of the moments of the
various moments about the same point O.

      
r  F1  F2    r  F1  r  F2  

 Varigon’s Theorem makes it possible to

replace the direct determination of the
moment of a force F by the moments of
two or more component forces of F.
3 - 14
Rectangular Components of the Moment of a Force
The moment of F about O:
      
M O  r  F , r  xi  yj  zk
   
F  Fx i  Fy j  Fz k
   
M O  M xi  M y j  M z k

  
i j k

MO  x y z
Fx Fy Fz

   
M O   yFz  zFy i   zFx  xFz  j  xFy  yFx k
3 - 15
Rectangular Components of the Moment of a Force
 The moment of F about B:
  
M B  rA / B  F
  
rA / B  rA  rB
   
rA / B   x A  xB  i   y A  y B  j   z A  z B  k
   
F  Fx i  Fy j  Fz k

  
i j k

M B  x A  xB   y A  yB  z A  z B 
Fx Fy Fz
3 - 16
Rectangular Components of the Moment of a Force
 For two-dimensional structures:
 
M O  xFy  yFx k
MO  MZ
M O  xFy  yFx

 

M O   x A  xB Fy   y A  y B Fx k 
MO  MZ
M O   x A  xB Fy   y A  y B Fx
3 - 17
 Sample Problem 3.1
 A 100-lb vertical force is applied to the end of a
lever which is attached to a shaft at O.
 Determine:
a) moment about O,
b) horizontal force at A which creates the same
moment,
c) smallest force at A which produces the same
moment,
d) location for a 240-lb vertical force to produce the
same moment,
e) whether any of the forces from b, c, and d is
equivalent to the original force.
3 - 18
Sample Problem 3.1
a) Moment about O is equal to the product
of the force and the perpendicular
distance between the line of action of the
force and O. Since the force tends to
rotate the lever clockwise, the moment
vector is into the plane of the paper.

M O  Fd
d  24 in. cos 60  12 in.
M O  100 lb12 in.

M O  1200 lb  in
3 - 19
 Sample Problem 3.1
b) Horizontal force at A that produces the
same moment,

d  24 in. sin 60  20.8 in.

M O  Fd
1200 lb  in.  F 20.8 in.
1200 lb  in. F  57.7 lb
F
20.8 in.

3 - 20
Sample Problem 3.1
c) The smallest force A to produce the same
moment occurs when the perpendicular
distance is a maximum or when F is
perpendicular to OA.

M O  Fd
1200 lb  in.  F 24 in.
1200 lb  in.
F
24 in.
F  50 lb
3 - 21
Sample Problem 3.1
d) To determine the point of application of
a 240 lb force to produce the same
moment,

M O  Fd
1200 lb  in.  240 lbd
1200 lb  in.
d  5 in.
240 lb
OB cos60  5 in.

OB  10 in.
3 - 22
Sample Problem 3.1
e) Although each of the forces in parts b), c),
and d) produces the same moment as the
100 lb force, none are of the same
magnitude and sense, or on the same line of
action. None of the forces is equivalent to
the 100 lb force.

3 - 23
 Sample Problem 3.4
SOLUTION:
The moment MA of the force F
exerted by the wire is obtained
by evaluating the vector product,

  
M A  rC A  F

The rectangular plate is supported by the

brackets at A and B and by a wire CD. Knowing
that the tension in the wire is 200 N, determine
the moment about A of the force exerted by the
wire at C. 3 - 24
Sample Problem 3.4
SOLUTION:
 

M A  rC A  F
    
rC A  rC  rA  0.3 mi  0.08 mk

 

F  F  200 N  CD
CD
  
  0.3 m i  0.24 m  j  0.32 m k
F  200 N 
0 .5 m
   
F  120 N  i  96 N  j  128 N k
  
i j k

M A  0.3 0 0.08
 120 96  128
   
M A  7.68 N  m i  28.8 N  m j  28.8 N  mk
3 - 25
Take Home Example 1
Given: The force and geometry
shown.
Find: Moment of F about point O.

Plan:
1) Find rOB.
2) Determine MO = rOA  F .

3 - 26
 Take Home Example 1
Solution:
First, find the position vector rOB
rOB = {0 i + 3 j + 1.5 k} m

Then find the moment by using

the cross product.

i j k
MO = = [{3(10) – 1.5(3)} i – {0(10) –
0 3 1.5
– 6 3 10 1.5(– 6)} j + {0(3) – 3(– 6)} k] N·m
= {25.5 i + 9 j + 18 k} N·m

3 - 27
Home Take Example 2

Given: The force and

geometry shown.
Find: Moment of F about
point O

Plan:
1) Find rOA .

2) Determine MO = rOA  F

1 - 28
 Home Take Example 2

Solution: r OA = { 4 i + 5 j + 3 k } ft

i j k
MO = 4 5 3 = { 735 i + 0 j  980 k } lb · ft
100 120 75

1 - 29
 Ch.3 Contents: Part 2
 Moment of a Force About a Given Axis
 Scalar Product of Two Vectors
 Application of Scalar Product of Two Vectors
 Mixed Triple Product of Three Vectors
 Solved Examples

1 - 30
Moment of a Force About a Given Axis
a
MO Maa
θ
Maa’
O F
r
F F
λa
   a
MO  r  F
 
M aa  M O  cos  M aa  M aa  a
1 - 31
Moment of a Force About a Given Axis
 Dot or Scalar Product
 
(Dot)

M aa  a  M o Magnitude a
MO
  Maa

M aa  M aa  a Vector
O
r
F

λa
a
1 - 32
Scalar Product of Two Vectors - Dot Product
 The scalar product or dot product between
two vectors P and Q is defined as
 
P  Q  PQ cos  scalar result 

 Scalar products with Cartesian unit components,

   
P  Q  Px i  Py j  Pz k  Qx i  Qy j  Qz k 
   

           
i i 1 j  j 1 k k 1 i  j  0 j k  0 k i  0
 
P  Q  Px Qx  Py Q y  Pz Qz
 
P  P  Px2  Py2  Pz2  P 2
3 - 33
Scalar Product of Two Vectors - Dot Product

 Scalar products:
   
- are commutative, P Q  Q P

      
- are distributive, P  Q1  Q2   P  Q1  P  Q2

  
- are not associative, P  Q  S  undefined

3 - 34
Application of Scalar Product of Two Vectors
 
P  Q  PQ cos 

 Projection of a vector on a given axis:

POL  P cos   projection of P along OL
 
P  Q  PQ cos 
 
P Q
 P cos   POL
Q
 
OL  P  P cos   POL

 
POL  OL  P  Px cos  x  Py cos  y  Pz cos  z

2
 Moment of a Force About a Given Axis

 Moment MO of a force F applied at

the point A about a point O,
  
MO  r  F
 Scalar moment MOL about an axis
OL is the projection of the moment
vector MO onto the axis,
    
M OL    M O    r  F 
 Mixed Triple Product of Three Vectors
Mixed Triple Product of Three Vectors
 Mixed triple product of three vectors,
  
S  P  Q   scalar result

 The six mixed triple products formed from S, P, and

Q have equal magnitudes but not the same sign,

     
        
S  PQ  P  Q S  Q  S  P
       
          
S  P  Q   S  Q  P   P  S  Q  Q  P  S

 Evaluating the mixed triple product,

 
  
S  P  Q  S x Py Qz  Pz Q y   S y Pz Qx  Px Qz 
 S z Px Q y  Py Qx 
Sx Sy Sz
 
  
S  P  Q  Px Py Pz
Qx Qy Qz
3 - 37
 Moment of a Force About a Given Axis

    
M OL    M O    r  F 
x,y,z

x y z
 
  
M OL   r F  x y z
Fx Fy Fz

3 - 38
Moment of a Force About a Given Axis
 Moment of a force about an
arbitrary axis,
 
M BL    M B
 
  
M BL    rA B  F
  
rA B  rA  rB

 The result is independent of the

point B along the given axis.
x y z
 
  
M BL    rA / B  F  x A / B yA/ B z A/ B
Fx Fy Fz
3 - 39
 Example 1

Given: A force is applied to the tool to open a gas valve.

Find: The magnitude of the moment of this force about the z
axis of the value.
Engineering Mechanics: Statics, Twelfth Edition
Russell C. Hibbeler
3 - 40
 Example 1
 
M BL   MB
 
  
M BL    rA B  F
  
rA B  rA  rB
L 
 = 1k
B 
A rA B = {0.25 sin 30° i + 0.25 cos30° j} m
A 
rA B = {0.125 i + 0.2165 j} m
F = {–60 i + 20 j + 15 k} N

Mz = 1{ 0.125 (20) – 0.2165 (–60) } N·m = 15.5 N·m

3 - 41
 Example 2

Given: Sleeve A can provide a maximum resisting moment of

125 N·m about the x-axis.
Find: The maximum magnitude of F before slipping occurs at
A (the sleeve rotating around the x-axis).
Engineering Mechanics: Statics, Twelfth Edition
Russell C. Hibbeler
3 - 42
 Example 2

 
M BL   MB
 
  
M BL    rB A  F
  
rB A  rB  rA

rAB = {(– 0.15 – 0) i + (0.30 – 0) j + (0.10 – 0) k} m

F = F {(– cos 60° i + cos 60° j + cos 45° k)} N

F = { – 0.5 F i + 0.5 F j + 0.707 F k} N
3 - 43
 Example 2
 
M BL   MB
 
  
Now find the triple product, Mx
M BL    rB A  F
  
1 0 0 rB A  rB  rA
MX = -0.15 0.3 0.1
-0.5F 0.5F 0.707F

Mx = 1 {0.3 (0.707F) – 0.1 (0.5F)} + 0 + 0 = 0.162 F N·m

Mx = 125 N·m = maximum moment along x-axis
125 = 0.162 F
FMAX = 771 N

3 - 44
 Take-Home Example

Engineering Mechanics: Statics, Twelfth Edition

Russell C. Hibbeler
3 - 45
 Take-Home Example

Engineering Mechanics: Statics, Twelfth Edition

Russell C. Hibbeler
3 - 46
3 - 47
3 - 48
3 - 49
 Ch. 3 Contents: Part 3
 Moment of a Couple: Definition
 Addition of Couples
 Resolution of a Force Into a Force and a Couple
 Sample Problems

1 - 50
 Moment of a Couple
 Two forces F and -F having the same
magnitude, parallel lines of action, and
opposite sense are said to form a couple.
 Moment of the couple,
    
M  rA  F  rB   F 
  
 rA  rB   F
 
 r F
M  rF sin   Fd

 The moment vector of the couple is

independent of the choice of the origin of
the coordinate axes, i.e., it is a free vector
that can be applied at any point with the
same effect. 3 - 51
 Moment of a Couple
 Two couples will have equal moments if:
 F1d1  F2 d 2

 The two couples lie in parallel planes, or

 The two couples lies on the same

plane and have the same sense.

3 - 52
Examples of Moment of couples

3 - 53
 Addition of Couples
 Consider two intersecting planes P1
and P2 with each containing a couple
  
M 1  r  F1 in plane P1
  
M 2  r  F2 in plane P2
 Resultants of the vectors also form a
couple
   
M  r  R  r  F1  F2 
 

 By Varignon’s theorem
    
M  r  F1  r  F2
 
 M1  M 2
 Sum of two couples is also a couple that is
equal to the vector sum of the two couples 3 - 54
 Couples Can Be Represented by Vectors

 A couple can be represented by a vector with magnitude and

direction equal to the moment of the couple.

 Couple vectors obey the law of addition of vectors.

 Couple vectors are free vectors, i.e., the point of application is

not significant.

 Couple vectors may be resolved into component vectors.

3 - 55
Resolution of a Force Into a Force at O and a Couple

 Force vector F can not be simply moved to O without modifying

its action on the body.

 Attaching equal and opposite force vectors at O produces no net

effect on the body.

 The three forces may be replaced by an equivalent force vector and

couple vector, i.e, a force-couple system.
3 - 56
Resolution of a Force Into a Force at O and a Couple

 Moving F from A to a different point O’ requires the addition of a

different couple vector MO’
  
M O'  r   F
 The moments of F about O and O’ are related,
         
M O '  r 'F  r  s  F  r  F  s  F
   
M O'  M O  s  F
 Moving the force-couple system from O to O’ requires the addition
of the moment of the force at O about O’.
3 - 57
 Sample Problem 3.6
SOLUTION:
 Attach equal and opposite 20 lb
forces in the +x direction at A,
thereby producing 3 couples for
which the moment components are
easily computed.

 Alternatively, compute the sum of

 Determine the components of
the single couple equivalent
to the couples shown.
the moments of the four forces about
an arbitrary single point. The point
D is a good choice as only two of
the forces will produce non-zero
moment contributions..

3 - 58
Sample Problem 3.6
 Attach equal and opposite 20 lb
forces in the +x direction at A

 The three couples may be represented

by three couple vectors,

M x  30 lb18 in.  540 lb  in.

M y  20 lb12 in.  240lb  in.
M z  20 lb9 in.  180 lb  in.
  
M  540 lb  in. i  240lb  in. j

 180 lb  in.k

3 - 59
Sample Problem 3.6
 Alternatively, compute the sum
of the moments of the four
forces about D.

 Only the forces at C and E

contribute to the moment about D.

   
M  M D  18 in. j   30 lbk
 
  
 9 in. j  12 in.k   20 lb i

  
M  540 lb  in. i  240lb  in. j

 180 lb  in.k
3 - 60
 Example 1

Plan:
1) Resolve the forces in x and y
directions so they can be treated
as couples.
2) Add the two couples to find the
resultant couple.

Given: Two couples act on the

beam with the geometry
shown.
61
Find: The resultant couple
 Example 1
 The x and y components of the
upper-left 300 lb force are:

(4/5)(300 lb) = 240 lb vertically up

(3/5)(300 lb) = 180 lb to the left

 Do both of these components

form couples with their
matching components of the
other 300 force?

 No! Only the 240 lb components create a couple. Why?

62
 Example 1
 Now resolve the lower 150 lb force:

(150 lb) (sin 30°), acting up

(150 lb) (cos 30°), acting to the left

 Do both of these components create

a couple with components of the
other 150 lb force?

 The net moment is equal to:

+ M = – (240 lb)(2 ft) – (150 lb)(cos 30º)(2 ft)
= – 480 – 259.8 = -739.8 ft·lb
63
 Example 2
Plan:
1) Use M = r  F to find the
couple moment.
2) Set r = rAB and F = {35 k} N .
3) Calculate the cross product to
find M.
Given: A 35 N force couple
acting on the rod.
Find: The couple moment
acting on the rod in
Cartesian vector 64
notation.
 Example 2
rAB = { 0 i – (0.25) j + (0.25 tan 30°) k} m
rAB = {– 0.25 j + 0.1443 k} m
F = {0 i + 0 j + 35 k} N

M = rAB  F

i j k
M = 0 – 0.25 0.1443 N·m
0 0 35

M = {(– 8.75 – 0) i – (0 – 0) j – (0 – 0) k} N·m

65
M = {– 8.75 i + 0 j + 0 k} N·m
 Example 3

PLAN:
1) Use definition of a scalar
couple to find P and F.
2) Determine the net moment
(couple).
3) Equate the net moment to
Given: Two couples act on the zero to find d.
beam. The resultant
couple is zero.
Find: The magnitudes of the
forces P and F and the 66
distance d.
 Example 3
 Determine the net moment
+ M = (2)(0.3) – (4)(d)

 As the net moment equals zero.

 From the definition + M = (2)(0.3) – (4)(d) = 0
of a couple:
P = 2 kN
 Now solve this equation for d.
F = 4 kN
d = (0.6) N·m / (4) N = 0.15 m

67
 Example 4

Plan:
1) Use M = r  F to find
the couple moment.
2) Set r = rAB and F = {15
k} N .
3) Calculate the cross
Given: F = {15 k} N and product to find M.
– F = {– 15 k} N
Find: The couple moment
acting on the pipe
assembly using Cartesian 68
vector notation.
 Example 4
rAB = { (0.3 – 0.2 ) i + (0.8 – 0.3) j + (0 – 0) k } m
rAB = { 0.1 i + 0.5 j } m
F = {15 k} N

i j k
M = rAB  F = 0.1 0.5 0 N·m
0 0 15

M = {( 7.5 – 0 ) i – (1.5 – 0) j + k (0) } N · m

69
M = { 7.5 i – 1.5 j } N · m
Example 5

Engineering Mechanics: Statics, Twelfth Edition

Russell C. Hibbeler 70
Example 6

Engineering Mechanics: Statics, Twelfth Edition

Russell C. Hibbeler

71
Example 6

72
Example 7

Engineering Mechanics: Statics, Twelfth Edition

Russell C. Hibbeler 73
Example 7

74
 Ch. 3 Contents: Part 4
 Reduction System of Forces to a Force and Couple
 Further Reduction of a System of Forces
 Sample Problems

1 - 75
System of Forces: Reduction to a Force
and Couple

 A system of forces may be replaced by a collection

of force-couple systems acting a given point O

 The force and couple vectors may be combined into

a resultant force vector and a resultant couple vector,
  R  
R  F M O   r  F 
 The force-couple system at O may be moved to O’ with
the addition of the moment of R about O’ ,
R R  
M O'  M O  s  R
3 - 76
 Further Reduction of a System of Forces
 If the resultant force and couple at O are
mutually perpendicular, they can be replaced by
a single force acting along a new line of action.
 The resultant force-couple system for a system
of forces will be mutually perpendicular if:
1) the forces are concurrent,
2) the forces are coplanar, or
3) the forces are parallel.

3 - 77
Further Reduction of a System of Forces

= =
 System
 of
 Rcoplanar forces is reduced to a force-couple system
R and M O that is mutually perpendicular.
 System can
be reduced to a single force by moving the line of
R
action of Runtil its moment about O becomes M O

In terms of rectangular coordinates, xRy  yRx  M O

R

3 - 78
 Sample Problem 3.8
 For the beam, reduce the system of
forces shown to (a) an equivalent
force-couple system at A, (b) an
equivalent force couple system at B,
and (c) a single force or resultant.
 Note: Since the support reactions are
not included, the given system will
not maintain the beam in equilibrium.
SOLUTION:
a) Compute the resultant force for the
forces shown and the resultant
couple for the moments of the
forces about A.
b) Find an equivalent force-couple
system at B based on the force-
couple system at A.
c) Determine the point of application
for the resultant force such that its
moment about A is equal to the
resultant couple at A.
3 - 79
Sample Problem 3.8
SOLUTION:
a) Compute the resultant force and the
resultant couple at A.
 
R  F
    
R  150 N  j  600 N  j  100 N  j  250 N  j
 
R  600 N  j

 
R  
MA   r F
R    
M A  1.6 i   600 j   2.8 i  100 j 
 
 4.8 i   250 j 

R 
M A  1880 N  mk
3 - 80
Sample Problem 3.8
b) Find an equivalent force-couple system at B
based on the force-couple system at A.
The force is unchanged by the movement of the
force-couple system from A to B.
 
R  600 N  j

The couple at B is equal to the moment about B

of the force-couple system found at A.
R R  
M B  M A  rB A  R
R   
M B  1880 N  m k   4.8 m i   600 N  j
R  
M B  1880 N  m k  2880 N  m k

R 
M B  1000 N  mk

3 - 81
 Sample Problem 3.8
c) Determine the point of application for the
resultant force such that its moment about A
is equal to the resultant couple at A.

-(600N)j R
M C  0 .0
R   
M C  1880 N  m k   x m i   600 N  j  0.0
1880 N  m
A x C B
x
600N

x  3.13 m

3 - 82
 Sample Problem 3.10
SOLUTION:
 Determine the relative position
vectors for the points of application of
the cable forces with respect to A.

 Resolve the forces into rectangular

components.

 Compute the equivalent force,

 
R  F

 Compute the equivalent couple,

R  
M A   r  F 
 Three cables are attached to the
bracket as shown. Replace the
forces with an equivalent force-
couple system at A.
3 - 83
 Sample Problem 3.10
 Resolve the forces into rectangular
components.
 
FB  700 N 
   
 rE B 75 i  150 j  50k
 
rE B 175
   
  0.429 i  0.857 j  0.289k
   
SOLUTION: FB  300 i  600 j  200k N 
 Determine the relative position
 
vectors with respect to A. FC  1000 N cos 45 i  cos 45k 
    
rB A  0.075 i  0.050k m  FC  707 i  707 k N 
  
rC A  0.075 i  0.050k m    
  FD  1200 N cos 60 i  cos 30 j 

rD A  0.100 i  0.100 j m    
FD  600 i  1039 j N 
3 - 84
 Sample Problem 3.10
 Compute the equivalent force,  Compute the equivalent couple,
 
R  F R  
M A   r  F 
 
R  300  707  600  i i
 
j

k
   
  600  1039  j 
rB A  F B  0.075 0 0.050  30i  45k

 200  707 k 300  600 200
      
R  1607i  439 j  507 k N  i j k
  
rC A  F c  0.075 0  0.050  17.68 j
707 0  707
  
i j k
  
rD A  F D  0.100  0.100 0  163.9k
600 1039 0

R   
M A  30 i  17.68 j  118.9k
3 - 85