cuarrea VECTOR MECHANICS FOR ENGINEERS: 3 STATICS Rigid Bodies: Equivalent Systems of ForcesVector Mechanics for Engineers: Statics Contents Introduction External and Internal Forces Principle of Transmissibility: Equivalent Moment of a Force About a Given Axis Sample Problem 3.5 Moment of a Couple Forces Vector Products of Two Vectors Moment of a Force About a Point Varigon’s Theorem Rectangular Components of the Moment of a Force Sample Problem 3.1 Scalar Product of Two Vectors Addition of Couples Couples Can Be Represented By Vectors Resolution of a Force Into a Force at O and a Couple Sample Problem 3.6 System of Forces: Reduction to a Force and a Couple Further Reduction of a System of Forces Scalar Product of Two Vectors: Applications Mixed Triple Product of Three Vectors Sample Problem 3.8 Sample Problem 3.10Vector Mechanics for Engineers: Statics 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 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. 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 €.g. a spanner + moment of a force about an axis e.g. a swing door + moment due to a couple e.g. the steering wheel 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.Vector Mechanics for Engineers: Statics 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.Vector Mechanics for Engineers: Statics Principle of Transmissibility: Equivalent Forces E 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. 4 5 4 3 a x + Principle of transmissibility may —- = =) = =e not always apply in determining @ Co) © internal forces and deformations. 4 5 4 2 4 2Vector Mechanics for Engineers: Statics Vector Product of Two Vectors * Concept of the moment of a force about a point is i fa V=PxQ more easily understood through applications of : the vector product or cross product. cae P * 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 Vis V = PQsin@ 3. Direction of V is obtained from the right-hand rule. * Vector products: - are not commutative, @x P =-(PxQ) - are distributive, Px(Q,+Q))=PxO,+PxQ> - are not associative, (PxQ)xS #Px(QxS)Vector Mechanics for Engineers: Statics Vector Products: Rectangular Components + Vector products of Cartesian unit vectors, ‘| ‘| Vector products in terms of rectangular coordinates: Suppose we have 2 vectors P and Q and we wish to find PxQ: V=(Pi+P,j+Pk)x(0,7+0,7+0.8) = (P,Q. —P., F +(P.0, - P.O.) +(P.0, -P,O.K i oj k = Py Py P, Q, Q, Q,Vector Mechanics for Engineers: Moment of a Force About a Point Statics + A force vector is defined by its magnitude and direction. Its effect on the rigid body also depends on it point of application. The moment of F about O is defined as Mo =rxF The moment vector Mp is perpendicular to the plane containing O and the force F. Magnitude of My measures the tendency of the force to cause rotation of the body about an axis along My. Mo =rF sin = Fd The sense of the moment may be determined by the right-hand rule. Any force F’ that has the same magnitude and direction as F, is equivalent if it also has the same line of action and therefore, produces the same moment.Vector Mechanics for Engineers: Statics Moment of a Force About a Point Two-dimensional structures have length and breadth but negligible depth and are subjected to forces contained in the plane of the structure. The plane of the structure contains the point O and the force F. My, the moment of the force about O is perpendicular to the plane. (@) Mo=+ Fd 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. (b) Mo=-FdVector Mechanics for Engineers: Statics 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. Px(F, + Fy + )aFx thx Py te 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.Vector Mechanics for Engineers: Statics Rectangular Components of the Moment of a Force The moment of F about O, =(yF, —2F, ji +(cFy = xF,)j + (vFy ~yFy JkVector Mechanics for Engineers: Statics Rectangular Components of the Moment of a Force The moment of F about B, My = Fag XP Fup =Ty Ts = (x4 — ag )E + (14 ya )F + (Ea ~ Zu) FoaFi+Fj+Fk i j k (ta—xe) (var ye) a “| F F, F, M,=Vector Mechanics for Engineers: Statics Rectangular Components of the Moment of a Force For two-dimensional structures, = F Mo =[(.-2)F-O.- JAI M. My=MykVector Mechanics for Engineers: Statics Sample Problem 3.1 7 100 Ib 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-Ib vertical force to produce the same moment, e whether any of the forces from b, c, and d is equivalent to the original force.Vector Mechanics for Engineers: Statics 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 iho Ib vector is into the plane of the paper. 1 ! Mo = Fad ! d =(24in.)cos 60° = 12 in. Mo = (1001b\12 in.) Mo =1200Ib-inVector Mechanics for Engineers: Statics Sample Problem 3.1 ¢) Horizontal force at A that produces the same - moment, d =(24in.)sin 60° = 20.8in. Mo =Fd 1200 Ib-in. = F(20.8 in.) pe — 1200 Ib in, (Fos770) 20.8in.Vector Mechanics for Engineers: Statics 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, Mo =Fd 1200 Ib-in. = F(24in.) f= 1200 Ib in. Faso 24in.Vector Mechanics for Engineers: Statics Sample Problem 3.1 d) To determine the point of application of a 240 Ib force to produce the same moment, Mo =Fa 1200 Ib- in. = (240 Ib)d a= 1200 Ib - in. _ 240 Ib OB cos60° = Sin. (OB =10in., Sin.Vector Mechanics for Engineers: Statics Sample Problem 3.1 a 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 Ib force. 100 Ib I Mo Oo}Vector Mechanics for Engineers: Statics Sample Problem 3.4 wa 300 mm D 240 mm, 80 a 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. SOLUTION: The moment M, of the force F exerted by the wire is obtained by evaluating the vector product, M,=7,xFVector Mechanics for Engineers: Statics Sample Problem 3.4 e SOLUTION: My =F ,xF Foy =F -F, = (0.3m) +(0.08 m)7 F = FA =(200N)2" Tye =(200N)= (0.3 m¥ + (0.24 m)j -(0.32 mk 0.5m =~(120N)i + (96 N)j -(128N)k (288Nem)j i j ok M,= 03 0 0.08 120 96-128 PP = OND (28.8 Nem) k M , =-(7.68 N-m)i + (28.8 N-m)j +(28.8N-m)kVector Mechanics for Engineers: Statics Scalar Product of Two Vectors The scalar product or dot product between two vectors P and Q is defined as Q PeO=PQcosO (scalar result) Scalar products: 8 - arecommutative, PeQG=(0e0P - are distributive, Bld + 0, )= Ped, + Ped, - are not associative, (P (P 2G)e S =undefined Pe Scalar products with Cartesian unit components, PeQ=(P7+P,j+PK)o(07+0,7+0.k)Vector Mechanics for Engineers: Statics Scalar Product of Two Vectors: Applications + Angle between two vectors: Q PeQ = PQcos0 = P.O, +P,0, +P.Q. PQ. +PQ, + PQ. cos 9 = <> : PQ * Projection of a vector on a given axis: Pos @ = projection of P along OL = P.cos0, + P, cos0, + P. cos.Vector Mechanics for Engineers: Statics Mixed Triple Product of Three Vectors + Mixed triple product of three vectors, Se (Px 6) = scalar result + There are six different mixed triple products formed from S, P, and Q which have equal magnitudes but not the same sign, §e(Bx6)= Bo (Ox5)-G0(5«d) =-5 (Gx P)=-P o(5xG)=-G-(Px5) + Evaluating the mixed triple product, 50(PxG)=8,(P,0. - P-Oy)+5, (POs ~ P.Oz) +5.(P,0,-P,0s) S, Sy S, y Ps OQ, Q, Q,Vector Mechanics for Engineers: Statics Moment of a Force About a Given Axis + Moment M, of a force F applied at the point y A about a point O, M, =?xF Scalar moment Mj, about an axis OL is the projection of the moment vector My onto the axis, Moments of F about the coordinate axes} M, =F, -2F, M, =2F,-xF. Prove how did we get this!!Vector Mechanics for Engineers: Statics Moment of a Force About a Given Axis + Moment of a force about an arbitrary axis, My, =AeM, =Aelt,,xF) Tap = TaleVector Mechanics for Engineers: Statics Sample Problem 3.5 D Cc a 7 Tf Accube of side (a) is acted on by a 2 force P as shown. Determine the / a moment of P P a) about A Pa b) about the edge AB and ¢) about the diagonal AG of the cube. E F d) Determine the perpendicular distance between AG and FC. Hint; first decide where is the origin of x- y-z axes, then find the cross product : (rxF).Vector Mechanics for Engineers: Statics Sample Problem 3.5 + Moment of P about A, A> Freya XS Freja = ai aj a 7) b= $(G-*) Mm, —a@ —F)x Jo (F—-#) M,=(aP/V2\i + j+k * Moment of P about AB, May =i eM, =7e(aP/J2\i +7+8) M,, =aP/V2Vector Mechanics for Engineers: Statics Sample Problem 3.5 * Moment of P about the diagonal AG, M 4g =AeM, ;_laj _ai-aj-ak_ 1 A=—= =e Tea zi i-#) | Change tagtO te,Vector Mechanics for Engineers: Statics Sample Problem 3.5 + To find the perpendicular distance between AG and FC, we notice that: (> + =) P Pej= k —j-k)= O-1+1 . =li- ke ae )= Rl ) =0 Therefore, P is perpendicular to AG. Myo\= “2 = Pa v6Vector Mechanics for Engineers: Statics Moment of a Couple * Moment of the couple (about O: take clockwise —ve and anticlockwise +ve) , M=?,xF+7,x(-F) = Cy -i)xF =FxF M =rF sin@ = Fd * The moment vector of the couple is independent of the choice of the origin of the coordinate axes, i.e., itis a free vector that can be applied at any point with the same effect.Vector Mechanics for Engineers: Statics Moment of a Couple Two couples will have equal moments if ° Fd, = Fd, i.e. have the same value * the two couples lie in parallel planes, and * the two couples have the same sense or the tendency to cause rotation in the same direction.Vector Mechanics for Engineers: Statics Addition of Couples + Consider two intersecting planes P, and P, each containing a couple M, =¥xF, in plane P M, =? xF, in plane P, + Resultants of the vectors also form a couple M =?xR=7x(F+F) + By Varigon’s theorem | +FxF, M, m= M =Fx 1 an 1 = + L * Sum of two couples is also a couple that is equal to the vector sum of the two couplesVector Mechanics for Engineers: Statics Couples Can Be Represented by Vectors y i q t M= Fd) + Acouple 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 may be resolved into component vectors.Vector Mechanics for Engineers: Statics Resolution of a Force Into a Force at O and a Couple F F Mo -F + 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.Vector Mechanics for Engineers: Statics 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 My, Mo =7'xF * The moments of F about O and O’ are related, My =?xF =(F+5)x PF =FxP+5xF =M,+5xF + Moving the force-couple system from O to O’ requires the addition of the moment of the force at O about O’.Vector Mechanics for Engineers: Statics Sample Problem 3.6 y SOLUTION: Attach equal and opposite 20 lb forces in Bin, the +x direction at A, thereby producing 3 couples for which the moment components. are easily computed. Alternatively, compute the sum of 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.. Determine the components of the single couple equivalent to the couples shown. * Notice here that no point is specified for the couple as it acts equally on the whole bodyVector Mechanics for Engineers: Statics Sample Problem 3.6 * Attach equal and opposite 20 lb forces in the +x direction at A pole The three couples may be represented by = three couple vectors, M, = -(30Ib)(18 in.) = 540 Ib- in. (20 Ib\(12 in.) = +2401b-in. M, = +(201b)(9 in.) = +180 Ib-in. M =~-(5401b-in.)i + (2401b-in.)7) +(180Ib-in.)kVector Mechanics for Engineers: Statics 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, =(18in.)jx(—30Ib)k + in.)7-(12in.)k x (-201b)7 M =~(540Ib-in.)i +(2401b-in.)j +(180Ib-in.)kVector Mechanics for Engineers: Statics System of Forces: Reduction to a Force and Couple Asystem of forces may be replaced by a collection of force-couple systems acting at a given point O The force and couple vectors may be combined into a resultant force vector and a resultant couple vector, R=DF ME=>(FxF) = The force-couple system at O may be moved to O" Mis with the addition of the moment of R about O’ , J ME = ME 45x Two systems of forces are equivalent if they can be reduced to the same force-couple system.Vector Mechanics for Engineers: Statics 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.Vector Mechanics for Engineers: Statics Further Reduction of a System of Forces + System of coplanar forces is reduced to a force-couple system Rand Mf that is mutually perpendicular. * System can be reduced to a single force " by moving the line of action of R until its moment about O becomes Mj * In terms of rectangular coordinates, aR, —yR, =M¢ oonttnVector Mechanics for Engineers: Statics Sample Problem 3.8 150.N GOON 100N 250N hap canbe, Pe aoe 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.Vector Mechanics for Engineers: Statics Sample Problem 3.8 ‘ _.. SOLUTION: oj 600) 100; 2504 { a) Compute the resultant force and the 4 resultant couple at A. 161 -| R=YF 281 =z 48i = (150 N)j —(600 N)j +(100 N)j —(250 N)7 = (600); R= -(600 N)j) ME =S(FxF) A B - i 7 oi (1880 Nem) k = (1.67)x(~600])+ (2.87) (1007) +(4.87)x(—2507) M® =-(1880 N-m)kVector Mechanics for Engineers: Statics Sample Problem 3.8 (600 N)j b) Find an equivalent force-couple system at B { based on the force-couple system at A. —— ae F A B The force is unchanged by the movement of the (1880 Nem) k force-couple system from A to B. 00 N)j (600 N)j (1480 Nem) k The couple at B is equal to the moment about B of the force-couple system found at A. ME AMP +iyyxR — (600 N)j 26 52 ae =—(1880N-m)k +(-4.8 mj x(-600N)j =-(1880N-m)k +(2880N-m)k A B (1000 Nem) k +(1000 N-m)Vector Mechanics for Engineers: Statics Sample Problem 3.10 SOLUTION: * Determine the relative position vectors for the points of application of the cable forces with respect to A. TBmm 45" + Resolve the forces into rectangular components. * Compute the equivalent force, R=SF Three cables are attached to the + Compute the equivalent couple, bracket as shown. Replace the pe os forces with an equivalent force- My, = PG xF ) couple system at A.Vector Mechanics for Engineers: Statics Sample Problem 3.10 SOLUTION: + Determine the relative position vectors with respect to A. 7,4 = 0.0757 +0.050k (m) 7, = 0.0757 —0.050k (m) Fy, = 0.1007 -0.1007 (m) * Resolve the forces into rectangular components. F, =(700N)A jz _ Tne _ 757-150] +50k Top 175 = 0.4297 —0.857 j +0.289K F,, = 3007 —600j + 200k (N) ‘F.. = (1000N)(cos45i —cos45k) =707i -707k (N) F,, = (1200 N\cos 607 +cos 307) = 6007 +10397 (N)Vector Mechanics for Engineers: Statics Sample Problem 3.10 + Compute the equivalent force, R=DF = (300+ 707 +600) +(—600+1039)7 +(200-707)k Compute the equivalent couple, Mi => (FxF) i xF ,= (0.075 300 i FF = 0.075 707 Tha i 7,,,xF ,=|0.100 600 j kK 0 0.050 = 307 —45k -600 200 k —0.050| = 17.687 —707 oow i k =0.100 0} = 163.9% 1039 |