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Ch3 - L5 6 - Rigid Bodies
Ch3 - L5 6 - Rigid Bodies
ENGR 242 / AA
STATICS
Introduction
Rigid Bodies: Equivalent Systems Chapter 2 -1
of Forces
ENGR 242 – Statics
Introduction
Rigid Bodies: Equivalent Systems Chapter 2 -2
of Forces
ENGR 242 – Statics
! Recalls:
- Tutorial #2 this TUE and FRI
- Check for the recorded lectures and tutorials in MOODLE
- Problem assignment series #2 in MGH-Connect and MOODLE
- No quiz this week, Quiz 1 is rescheduled for the next TUE & FRI in
tutorials (one question from Chapter 2 – duration: 20 min)
- Midterm Test 1 scheduled for Friday Oct. 9 in the lecture
(Duration 75 minutes, four questions will be selected from Chapter 1 to 3)
- Solutions for the suggested problems in Chapter 2 are copied to Moodle.
Introduction
Rigid Bodies: Equivalent Systems Chapter 2 -3
of Forces
ENGR 242 – Statics
Course progress
Introduction
Rigid Bodies: Equivalent Systems Chapter 2 -4
of Forces
ENGR 242 – Statics
Chapter 3
Rigid Bodies: Equivalent
Systems of Forces
Introduction
Rigid Bodies: Equivalent Systems Chapter 3 -6
of Forces
ENGR 242 – Statics
Contents
Introduction Moment of a Force About a Given Axis
External and Internal Forces Sample Problem 3.5
Principle of Transmissibility: Equivalent Moment of a Couple
Forces
Addition of Couples
Vector Products
Couple Vectors
Moment of a Force About a Point
Resolution of a Force Into a Force at O
Varignon’s Theorem and a Couple
Rectangular Components of the Moment Sample Problem 3.6
of a Force
Reducing a System of Forces to a Force-
Sample Problem 3.1 Couple System
Scalar Products Further Reduction of a System of Forces
Applications of the Scalar Product Sample Problem 3.8
Mixed Triple Products Sample Problem 3.10
Introduction
Rigid Bodies: Equivalent Systems Chapter 3 -7
of Forces
ENGR 242 – Statics
3.1 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.
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.
First, we need to learn some new statics concepts, including:
• moment of a force about a point.
• moment of a force about an axis.
F
• moment due to a couple. F
Introduction
Rigid Bodies: Equivalent Systems of Forces - 9
ENGR 242 – Statics
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.
Introduction
Rigid Bodies: Equivalent Systems of Forces - 10
ENGR 242 – Statics
Vector Products
Concept of the moment of a force about a
begin underline
Vector products:
• are not commutative; however, Q × P = −(P × Q)
• are distributive, P × (Q1 + Q2) = P × Q1 + P × Q2
• are not associative, (P × Q) × S ≠ P × (Q × S)
Introduction
Rigid Bodies: Equivalent Systems of Forces - 11
ENGR 242 – Statics
Vector Products:
Rectangular Components
Varignon’s Theorem
• The moment about a given point O of the
resultant of several concurrent forces is
equal to the sum of the moments of the
various forces about the same point O.
! ! ! ! ! ! !
( )
r ´ F1 + F2 + " = r ´ F1 + r ´ F2 + "
Introduction
Rigid Bodies: Equivalent Systems of Forces - 15
ENGR 242 – Statics
Introduction
Rigid Bodies: Equivalent Systems of Forces - 16
ENGR 242 – Statics
Introduction
Rigid Bodies: Equivalent Systems of Forces - 17
ENGR 242 – Statics
= xFy - yFz
! !
M B = éë ( x A - xB ) Fy - ( y A - yB ) Fz ùû k
MB = MZ
= ( x A - xB ) Fy - ( y A - yB ) Fz
Introduction
Rigid Bodies: Equivalent Systems of Forces - 18
ENGR 242 – Statics
Introduction
Rigid Bodies: Equivalent Systems of Forces - 19
ENGR 242 – Statics
M O = ( 100 lb ) ( 12 in. )
(3-1)
M O = -1200 lb × in., or
= 1200 lb × in.
Introduction
Rigid Bodies: Equivalent Systems of Forces - 20
ENGR 242 – Statics
M O = Fd
1200 lb × in.
F= F = 57.7 Ib
20.8 in.
(3-1)
Introduction
Rigid Bodies: Equivalent Systems of Forces - 21
ENGR 242 – Statics
M O = Fd
1200 lb × in.
F= F = 50 Ib
24 in.
Example
(3-1)
Introduction
Rigid Bodies: Equivalent Systems of Forces - 22
ENGR 242 – Statics
M O = Fd
1200 lb × in. = (240 lb) d
1200 lb × in.
d= = 5 in.
240 lb
OB cos 60° = 5 in. OB = 10 in.
Example
(3-1)
Introduction
Rigid Bodies: Equivalent Systems of Forces - 23
ENGR 242 – Statics
Example
(3-1)
Reflect and Think: Various combinations of force and lever arm can
produce equivalent moments, but the system of force and moment produces
a different overall effect in each case.
Introduction
Rigid Bodies: Equivalent Systems of Forces - 24
ENGR 242 – Statics
! ! ! Example
i j k
!
M A = 0.3 0 0.08 (3-4)
-120 96 -128
" ! ! !
M A = - ( 7.68 N × m ) i + ( 28.8 N × m ) j + ( 28.8 N × m ) k
Introduction
Rigid Bodies: Equivalent Systems of Forces - 26
ENGR 242 – Statics
Example
(3-4)
Introduction
Rigid Bodies: Equivalent Systems of Forces - 27
ENGR 242 – Statics
More Examples
Problem
(3-13)
Introduction
Rigid Bodies: Equivalent Systems of Forces - 28
ENGR 242 – Statics
More Examples
Problem
(3-14)
Introduction
Rigid Bodies: Equivalent Systems of Forces - 30
ENGR 242 – Statics
More Examples
Problem
(3-34)
Introduction
Rigid Bodies: Equivalent Systems of Forces - 32
ENGR 242 – Statics
+ S z ( Px Qy - Py Qx )
Sx Sy Sz
= Px Py Pz
Qx Qy Qz
Introduction
Rigid Bodies: Equivalent Systems of Forces - 36
ENGR 242 – Statics
Introduction
Rigid Bodies: Equivalent Systems of Forces - 37
ENGR 242 – Statics
Introduction
Rigid Bodies: Equivalent Systems of Forces - 38
ENGR 242 – Statics
Introduction
Rigid Bodies: Equivalent Systems of Forces - 39
ENGR 242 – Statics
Example
b) Moment of P about AB,
! ! ! ! ! !
(3-5) M AB (
= i • M A = i • aP / 2 )( i + j +k )
M AB = aP / 2
Introduction
Rigid Bodies: Equivalent Systems of Forces - 40
ENGR 242 – Statics
Introduction
Rigid Bodies: Equivalent Systems of Forces - 41
ENGR 242 – Statics
Introduction
Rigid Bodies: Equivalent Systems of Forces - 42
ENGR 242 – Statics
More Examples
Problem
(3-37)
Introduction
Rigid Bodies: Equivalent Systems of Forces - 43
ENGR 242 – Statics
More Examples
Problem
(3-38)
Introduction
Rigid Bodies: Equivalent Systems of Forces - 45
ENGR 242 – Statics
More Examples
Problem
(3-57)
Introduction
Rigid Bodies: Equivalent Systems of Forces - 47
ENGR 242 – Statics
Moment of a Couple
• Two couples will have equal moments if.
• F 1d1 = F 2d2 .
Introduction
Rigid Bodies: Equivalent Systems of Forces - 50
ENGR 242 – Statics
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
Introduction
Rigid Bodies: Equivalent Systems of Forces - 51
ENGR 242 – Statics
Couple Vectors
Introduction
Rigid Bodies: Equivalent Systems of Forces - 52
ENGR 242 – Statics
• Force vector F can not be simply moved to O without modifying its effect
on the body.
• Attaching equal and opposite force vectors at O produces no net change of
effect on the body.
• The three forces may be replaced by an equivalent force vector and couple
vector, i.e, a force-couple system.
Access the text alternative for these images.
Introduction
Rigid Bodies: Equivalent Systems of Forces - 53
ENGR 242 – Statics
Modeling:
• Attach equal and opposite 20 lb forces in
the ± x direction at A, thereby producing
Determine the components of 3 couples for which the moment
the single couple equivalent to components are easily computed.
the two couples shown.
! ! !
M = - ( 540 lb × in. ) i + ( 240 lb × in. ) j
!
+ ( 180 lb × in. ) k
Introduction
Rigid Bodies: Equivalent Systems of Forces - 56
ENGR 242 – Statics
(3-6)
Reflect and Think:
You can also obtain the components of the
equivalent single couple M by computing the
sum of the moments of the four given forces
about an arbitrary point. Selecting point D,
the moment is
! ! ! !
M = M D = ( 18 in. ) j ´ ( -30 lb ) k
! ! !
+ éë ( 9 in. ) j - ( 12 in. ) k ùû ´ ( -20 lb ) i
! ! !
M = -(540 lb × in.)i + (240lb × in.) j
!
+ (180 lb × in.) k
Introduction
Rigid Bodies: Equivalent Systems of Forces - 57
ENGR 242 – Statics
More Examples
Problem
(3-82)
Introduction
Rigid Bodies: Equivalent Systems of Forces - 58
ENGR 242 – Statics
More Examples
Problem
(3-85)
Introduction
Rigid Bodies: Equivalent Systems of Forces - 60
ENGR 242 – Statics
More Examples
Problem
(3-95)
Introduction
Rigid Bodies: Equivalent Systems of Forces - 63
ENGR 242 – Statics
More Examples
Problem
(3-98)
Introduction
Rigid Bodies: Equivalent Systems of Forces - 65
ENGR 242 – Statics
Introduction
Rigid Bodies: Equivalent Systems of Forces - 68
ENGR 242 – Statics
Introduction
Rigid Bodies: Equivalent Systems of Forces - 69
ENGR 242 – Statics
Introduction
Rigid Bodies: Equivalent Systems of Forces - 71
ENGR 242 – Statics
(3-8)
Introduction
Rigid Bodies: Equivalent Systems of Forces - 72
ENGR 242 – Statics
(3-8)
r ´ R = M RA
Solving for x, you get x = 3.13 m.
xi ´ ( -600 N ) j = -(1880 N × m)k
Thus, the single force equivalent
- x(600 N )k = -(1880 N × m)k to the given system is defined as
R = 600 N ¯, x = 3.13 m
Introduction
Rigid Bodies: Equivalent Systems of Forces - 74
ENGR 242 – Statics
system at A. (3-10)
! ! ! " "
rD A = 0.100 i - 0.100 j (m) = 600 i + 1039 j (N)
Introduction
Rigid Bodies: Equivalent Systems of Forces - 77
ENGR 242 – Statics
Example
! ! !
i j k
! ! !
(3-10) rD A ´ F D = 0.100 -0.100 0 = 163.9k
600 1039 0
!R ! ! !
M A = 30 i + 17.68 j + 118.9k N∙m
Introduction
Rigid Bodies: Equivalent Systems of Forces - 78
ENGR 242 – Statics
Example
(3-10)
Introduction
Rigid Bodies: Equivalent Systems of Forces - 79
ENGR 242 – Statics
More Examples
Problem
(3-118)
Introduction
Rigid Bodies: Equivalent Systems of Forces - 80
ENGR 242 – Statics
More Examples
Problem
(3-120)
Introduction
Rigid Bodies: Equivalent Systems of Forces - 83
ENGR 242 – Statics
More Examples
Problem
(3-158)
Introduction
Rigid Bodies: Equivalent Systems of Forces - 85
ENGR 242 – Statics
Questions
Introduction
Rigid Bodies: Equivalent Systems Chapter 3 - 87
of Forces