Department of Technical Mechatronics

Subject: Engineering Mechanics

First Stage
Lecturer: M.SC Alaq F. Hasan
Year: 2022-2023
Lecture Three
 Lecture Outline:

Three-Dimensional Force Systems

• 3.1 Rectangular Components
• 3.2 Moment and Couple
• 3.3 Resultants
• Homework
Three-Dimensional Force Systems

3.1 Rectangular Components

To solve a physical problem, we usually impose a coordinate system. The familiar three-dimensional x, y, z coordinate system is
called the Cartesian coordinate system. Three mutually perpendicular lines called axes intersect at a point called the origin, denoted
as (0, 0, 0). All other points in three dimensional space are identified by their coordinates as (x, y, z ) in the standard way. The
positive directions of the axes are usually chosen to form a right-handed coordinate system. When one points the right hand in the
direction of the positive x-axis, and curls the fingers in the direction of the positive y-axis, the thumb should point in the direction
of the positive z-axis. If we impose a Cartesian coordinate system and place the tail of a vector at the origin, then the head points to
a specific point.
𝐹Ԧ vector has a length and a direction. The length of the vector 𝐹,
Ԧ denoted by 𝐹, is a scalar and is independent of the orientation of

the coordinate system. Application of the Pythagorean theorem in three dimensions results in

𝐹 = 𝐹𝑥 2 + 𝐹𝑦 2 + 𝐹𝑧 2

We can define standard unit vectors 𝑖Ԧ, 𝑗Ԧ and 𝑘, to be vectors of length one that point along the positive directions of the x, y, z

coordinate axes, respectively. Using these unit vectors, we can write 𝐹Ԧ Cartesian vector form as

𝐹Ԧ = 𝐹𝑥 𝑖Ԧ + 𝐹𝑦 𝑗Ԧ + 𝐹𝑧 𝑘

We will define the direction of 𝐹Ԧ by the coordinate direction angles 𝜃𝑥 , 𝜃𝑦 and 𝜃𝑧 , measured between the tail of 𝐹Ԧ and the
Ԧ
positive x, y, z axes provided they are located at the tail of 𝐹.

𝐹𝑥 𝐹𝑦 𝐹𝑧
cos 𝜃𝑥 = , cos 𝜃𝑦 = , cos 𝜃𝑧 =
𝐹 𝐹 𝐹
These numbers are known as the direction cosines of 𝐹 . Once they have been obtained, the coordinate direction angles 𝜃𝑥 , 𝜃𝑦
and 𝜃𝑧 can then be determined from the inverse cosines.
 Ԧ If 𝐹Ԧ is expressed in Cartesian
An easy way of obtaining these direction cosines is to form a unit vector 𝑢𝐹 in the direction of 𝐹.

vector form, 𝐹Ԧ = 𝐹𝑥 𝑖Ԧ + 𝐹𝑦 𝑗Ԧ + 𝐹𝑧 𝑘, then 𝑢𝐹 will have a magnitude of one and be dimensionless provided 𝐹Ԧ is divided by its
magnitude.
𝐹Ԧ 𝐹𝑥 𝐹𝑦 𝐹𝑧
𝑢𝐹 = = 𝑖Ԧ + 𝑗Ԧ + 𝑘
𝐹 𝐹 𝐹 𝐹
Ԧ thus
From above equation, it is seen that the 𝑖Ԧ, 𝑗Ԧ, 𝑘, components of 𝑢𝐹 represent the direction cosines of 𝐹,

𝑢𝐹 = cos 𝜃𝑥 𝑖Ԧ + cos 𝜃𝑦 𝑗Ԧ + cos 𝜃𝑧 𝑘

Since the magnitude of a vector is equal to the positive square root of the sum of the squares of the magnitudes of its components,
and 𝑢𝐹 has a magnitude of one, then from the above equation an important relation between the direction cosines can be
formulated as:
𝑐𝑜𝑠 2 𝜃𝑥 + 𝑐𝑜𝑠 2 𝜃𝑦 + 𝑐𝑜𝑠 2 𝜃𝑧 = 1
Here we can see that if only two of the coordinate angles are known, the third angle can be found using this equation. Finally, if
the magnitude and coordinate direction angles of 𝐹Ԧ are known, then 𝐹Ԧ may be expressed in Cartesian vector form as
𝐹Ԧ = 𝐹 𝑢𝐹 = 𝐹 cos 𝜃𝑥 𝑖Ԧ + 𝐹 cos 𝜃𝑦 𝑗Ԧ + 𝐹 cos 𝜃𝑧 𝑘

𝐹Ԧ = 𝐹𝑥 𝑖Ԧ + 𝐹𝑦 𝑗Ԧ + 𝐹𝑧 𝑘
In solving three-dimensional problems, one must usually find the x, y, and z scalar components of a force. In most cases, the
direction of a force is described (a) by two points on the line of action of the force or (b) by two angles which orient the line of
action.
(a) Specification by two points on the line of action of the force.
If the coordinates of points A and B of figure shown below are known, the force 𝐹Ԧ may be written as

𝐴𝐵 𝑥2 − 𝑥1 𝑖Ԧ + 𝑦2 − 𝑦1 𝑗Ԧ + 𝑧2 − 𝑧1 𝑘
𝐹Ԧ = 𝐹 𝑢𝐹 = 𝐹 =𝐹
𝐴𝐵 (𝑥2 − 𝑥1 )2 +(𝑦2 − 𝑦1 )2 +(𝑧2 − 𝑧1 )2

Thus the x, y, and z scalar components of 𝐹Ԧ are the scalar coefficients of the unit vectors 𝑖Ԧ, 𝑗Ԧ, and 𝑘, respectively.
(b) Specification by two angles which orient the line of action of the force.
Consider the geometry of Figure shown. We assume that the angles and are known. First resolve 𝐹Ԧ into horizontal and vertical
components.
𝐹𝑥𝑦 = 𝐹 cos 𝜑
𝐹𝑧 = 𝐹 sin 𝜑
Then resolve the horizontal component 𝐹𝑥𝑦 into x- and y-components.
𝐹𝑥 = 𝐹𝑥𝑦 cos 𝜃 = 𝐹 cos 𝜑 cos 𝜃
𝐹𝑦 = 𝐹𝑥𝑦 sin 𝜃 = 𝐹 cos 𝜑 sin 𝜃

The quantities 𝐹𝑥 , 𝐹𝑦 , and 𝐹𝑧 are the desired scalar components of 𝐹Ԧ .

o Dot Product

Occasionally in statics one has to find the angle between two lines or the components of a force parallel and perpendicular to a
line. In two dimensions, these problems can readily be solved by trigonometry since the geometry is easy to visualize. In three
dimensions, however, this is often difficult, and consequently vector methods should be employed for the solution. The dot
product, which defines a particular method for “multiplying” two vectors, can be used to solve the above-mentioned problems.
The dot product of vectors 𝐴Ԧ and 𝐵, written 𝐴Ԧ • 𝐵 and read “𝐴Ԧ dot 𝐵,” is defined as the product of the magnitudes of 𝐴Ԧ and

𝐵 and the cosine of the angle 𝜃 between their tails, see figure below. Expressed in equation form,

𝐴Ԧ • 𝐵 = 𝐴 𝐵 cos 𝜃

where 0° ≤ 𝜃 ≤ 180°. The dot product is often referred to as the scalar product of vectors since the result is a scalar and not a
vector.
Applications:
The dot product has two important applications in mechanics.
1. The angle formed between two vectors or intersecting lines.
The angle 𝜃 between the tails of vectors 𝐴Ԧ and 𝐵 can be determined by using equation,

−1
𝐴Ԧ • 𝐵
𝜃 = 𝑐𝑜𝑠 ( )
𝐴𝐵
In particular, notice that if 𝐴Ԧ • 𝐵 = 0 , 𝜃 = 𝑐𝑜𝑠 −1 0 = 90° so that 𝐴Ԧ will be perpendicular to 𝐵 .
2. The components of a vector parallel and perpendicular to a line.
The component of vector 𝐴Ԧ parallel to or collinear with the line aa in figure shown below is defined by 𝐴𝑎 where 𝐴𝑎 = 𝐴 cos 𝜃.

This component is sometimes referred to as the projection of 𝐴Ԧ onto the line, since a right angle is formed in the construction. If
the direction of the line is specified by the unit vector 𝑢𝑎 , then since 𝑢𝑎 = 1, we can determine the magnitude of 𝐴𝑎 directly from
the dot product equation,

𝐴𝑎 = 𝐴 cos 𝜃 = 𝐴Ԧ • 𝑢𝑎

Hence, the scalar projection of 𝐴Ԧ along a line is determined from the dot product of 𝐴Ԧ and the unit vector 𝑢𝑎 which defines the

direction of the line. Notice that if this result is positive, then 𝐴Ԧ𝑎 has a directional sense which is the same as 𝑢𝑎 , whereas if 𝐴𝑎 is

a negative scalar, then 𝐴Ԧ𝑎 has the opposite sense of direction to 𝑢𝑎 . The component 𝐴Ԧ𝑎 represented as a vector is therefore

𝐴Ԧ𝑎 = 𝐴𝑎 𝑢𝑎
The component of 𝐴Ԧ that is perpendicular to line (aa) can also be obtained. Since

𝐴Ԧ = 𝐴Ԧ𝑎 + 𝐴Ԧ⊥
then
𝐴Ԧ⊥ = 𝐴Ԧ − 𝐴Ԧ𝑎
There are two possible ways of obtaining 𝐴⊥ . One way would be to determine 𝜃 from the dot product,
𝜃 = 𝑐𝑜𝑠 −1 (𝐴Ԧ • 𝐴Ԧ𝑎 )
then
𝐴⊥ = 𝐴 sin 𝜃
Alternatively, if 𝐴𝑎 is known, then by Pythagorean’s theorem we can also write,

𝐴⊥ = 𝐴2 − 𝐴𝑎 2 .
Example 3.1: A force 𝐹Ԧ with a magnitude of 100 N is applied at the origin O of the axes x-y-z as shown. The line of action of 𝐹Ԧ
Ԧ (b) the
passes through a point A whose coordinates are 3 m, 4 m, and 5 m. Determine (a) the x, y, and z scalar components of 𝐹,

projection 𝐹𝑥𝑦 of 𝐹Ԧ on the x-y plane, and (c) the projection 𝐹𝑂𝐵 of 𝐹Ԧ along the line OB.

Solution . Part (a). We begin by writing the force vector 𝐹Ԧ as its magnitude F times a unit
vector 𝑢𝑂𝐴
𝑂𝐴 3 𝑖Ԧ + 4 𝑗Ԧ + 5 𝑘
𝐹Ԧ = 𝐹 𝑢𝑂𝐴 = 𝐹 = 100
𝑂𝐴 3 2 + 42 + 52
𝐹Ԧ = 100 (0.424 𝑖Ԧ + 0.566 𝑗Ԧ + 0.707 𝑘)
𝐹Ԧ = 42.4 𝑖Ԧ + 56.6 𝑗Ԧ + 70.7 𝑘 𝑁

The desired scalar components are thus 𝐹𝑥 = 42.4 𝑁, 𝐹𝑦 = 56.6 𝑁, 𝐹𝑧 = 70.7 𝑁

Part (b). The cosine of the angle 𝜃𝑥𝑦 between 𝐹Ԧ and the x-y plane is

32 + 42
𝑂𝑃 = 𝑂𝐴 cos 𝜃𝑥𝑦 → cos 𝜃𝑥𝑦 = = 0.707
32 + 42 + 52
𝐹𝑥𝑦 = 𝐹 cos 𝜃𝑥𝑦 → 𝐹𝑥𝑦 = 100 0.707 = 70.7 𝑁
Part (c). The unit vector 𝑢𝑂𝐵 along OB is

𝑂𝐵 6 𝑖Ԧ + 6 𝑗Ԧ + 2 𝑘
𝑢𝑂𝐵 = = = 0.688 𝑖Ԧ + 0.688 𝑗Ԧ + 0.229 𝑘
𝑂𝐵 2
6 +6 +2 2 2

The scalar projection of 𝐹Ԧ on OB is

𝐹𝑂𝐵 = 𝐹Ԧ • 𝑢𝑂𝐵

𝐹𝑂𝐵 = (42.4 𝑖Ԧ + 56.6 𝑗Ԧ + 70.7 𝑘)•(0.688 𝑖Ԧ + 0.688 𝑗Ԧ + 0.229 𝑘)

𝐹𝑂𝐵 = 42.4 ∗ 0.688 + 56.7 ∗ 0.688 + 70.7 ∗ 0.229 = 84.4 𝑁

If we wish to express the projection as a vector, we write

𝐹Ԧ𝑂𝐵 = 𝐹Ԧ • 𝑢𝑂𝐵 𝑢𝑂𝐵

𝐹Ԧ𝑂𝐵 = 84.4 0.688 𝑖Ԧ + 0.688 𝑗Ԧ + 0.229 𝑘 = 58.1 𝑖Ԧ + 58.1 𝑗Ԧ + 19.33 𝑘 𝑁

Example 3.2: Determine the components of the force acting parallel and perpendicular to the pipe AO.

Solution .

AB 4 − 0 𝑖Ԧ + 5 − 4 𝑗Ԧ + 0 − 6 𝑘
𝑢AB = =
AB (4 − 0)2 +(5 − 4)2 +(0 − 6)2

𝑢AB = 0.549 𝑖Ԧ + 0.137 𝑗Ԧ − 0.824 𝑘

𝐹Ԧ = 𝐹 𝑢AB = 400 0.549 𝑖Ԧ + 0.137 𝑗Ԧ − 0.82 𝑘

𝐹Ԧ = 219 ∙ 6 𝑖Ԧ + 54 ∙ 9 𝑗Ԧ − 329 ∙ 67 𝑘 𝑁

A𝑂 0 − 0 𝑖Ԧ + 0 − 4 𝑗Ԧ + 0 − 6 𝑘
𝑢A𝑶 = =
A𝑂 (−4)2 +(−6)2

𝑢𝐴𝑂 = −0 ∙ 555 𝑗Ԧ − 0 ∙ 832 𝑘

𝑭⊥
𝑭𝑨𝑶
𝐹𝐴𝑂 = 𝐹Ԧ • 𝑢A𝑂 = (219 ∙ 6 𝑖Ԧ + 54 ∙ 9 𝑗Ԧ − 329 ∙ 67 𝑘) • (−0 ∙ 555 𝑗Ԧ − 0 ∙ 832 𝑘)

𝐹𝐴𝑂 = 219.78 ∗ 0 + 54.9 ∗ (−0.555) + (−329.67) ∗ (−0.832) = 243.82 𝑁

𝐹Ԧ𝐴𝑂 = 𝐹Ԧ • 𝑢𝐴𝑂 𝑢𝐴𝑂

𝐹Ԧ𝐴𝑂 = 243.8 −0 ∙ 555 𝑗Ԧ − 0 ∙ 832 𝑘 = −135 ∙ 3 𝑗Ԧ − 202 ∙ 8 𝑘 𝑁

𝐹Ԧ = 𝐹Ԧ𝐴𝑂 + 𝐹Ԧ⊥

𝐹Ԧ⊥ = 𝐹Ԧ − 𝐹Ԧ𝐴𝑂 = 219 ∙ 6 𝑖Ԧ + 54 ∙ 9 𝑗Ԧ − 329 ∙ 67 𝑘 − −135 ∙ 3 𝑗Ԧ − 202 ∙ 8 𝑘

𝐹Ԧ⊥ = 219.6 𝑖Ԧ + 190.2 𝑗Ԧ − 126.87 𝑘 𝑁

𝐹⊥ = 219.62 + 190.22 + (−126.87)2 = 317.01 𝑁

3.2 Moment and Couple
The moment of a force 𝐹Ԧ about point O, or actually about the moment axis passing through O and perpendicular to the plane

containing O and 𝐹Ԧ can be expressed using the vector cross product, namely,

𝑀𝑂 = 𝑟Ԧ × 𝐹Ԧ

Ԧ The magnitude of the cross product is

Here 𝑟Ԧ represents a position vector directed from O to any point on the line of action of 𝐹.
Ԧ The moment arm 𝑑 = 𝑟 𝑠𝑖𝑛 𝛼.
defined as 𝑀𝑂 = 𝑟 𝐹 𝑠𝑖𝑛 𝛼, where the angle α is measured between the heads of 𝑟Ԧ and 𝐹.

The correct direction and sense of the moment are established by the right-hand rule, the thumb points in the direction of 𝑀𝑂 if

the fingers of the right hand curl in the direction of rotation from 𝑟Ԧ to 𝐹Ԧ through the angle 𝛼.
o Evaluating the Cross Product
The cross-product expression for 𝑀𝑜 may be written in the determinant form

𝑖Ԧ 𝑗Ԧ 𝑘
𝑀𝑂 = 𝑟Ԧ × 𝐹Ԧ = 𝑟𝑥 𝑟𝑦 𝑟𝑧
𝐹𝑥 𝐹𝑦 𝐹𝑧

Expansion of the determinant gives

𝑀𝑂 = 𝑟𝑦 𝐹𝑧 − 𝑟𝑧 𝐹𝑦 𝑖Ԧ + 𝑟𝑧 𝐹𝑥 − 𝑟𝑥 𝐹𝑧 𝑗Ԧ + 𝑟𝑥 𝐹𝑦 − 𝑟𝑦 𝐹𝑥 𝑘

To gain more confidence in the cross-product relationship, examine the three components of the moment of a force about a
point as obtained from figure shown above. This figure shows the three components of a force 𝐹Ԧ acting at a point A located
relative to O by the vector 𝑟.
Ԧ The scalar magnitudes of the moments of these forces about the positive x-, y-, and z-axes through
O can be obtained from the moment-arm rule, and are

𝑀𝑥 = 𝑟𝑦 𝐹𝑧 − 𝑟𝑧 𝐹𝑦 , 𝑀𝑦 = 𝑟𝑧 𝐹𝑥 − 𝑟𝑥 𝐹𝑧 , 𝑀𝑧 = 𝑟𝑥 𝐹𝑦 − 𝑟𝑦 𝐹𝑥

Ԧ
which agree with the respective terms in the determinant expansion for the cross product 𝑟Ԧ × 𝐹.
o Moment about an Arbitrary Axis
We can now obtain an expression for the moment 𝑀λ of 𝐹Ԧ about any axis λ through O, as shown in figure below. If 𝑛 is a unit

vector in the λ -direction, then we can use the dot product expression to obtain (𝑀𝑂 • 𝑛) the component of 𝑀𝑂 in the direction of

λ. This scalar is the magnitude of the moment 𝑀λ of 𝐹Ԧ about λ. To obtain the vector expression for the moment 𝑀λ of 𝐹Ԧ about λ,
multiply the magnitude by the directional unit vector 𝑛 to obtain

𝑀λ = 𝑟Ԧ × 𝐹Ԧ • 𝑛 𝑛

where 𝑟Ԧ × 𝐹Ԧ replaces 𝑀𝑂 . The expression 𝑟Ԧ × 𝐹Ԧ • 𝑛 is known as a triple scalar product. It need not be written (𝑟Ԧ × 𝐹)
Ԧ •𝑛

because a cross product cannot be formed by a vector and a scalar. Thus, the association 𝑟Ԧ × (𝐹Ԧ • 𝑛) would have no meaning.
The triple scalar product may be represented by the determinant
𝑟𝑥 𝑟𝑦 𝑟𝑧
𝑀λ = 𝐹𝑥 𝐹𝑦 𝐹𝑧
𝛼 𝛽 𝛾

where 𝛼, 𝛽 and 𝛾 are the direction cosines of the unit vector 𝑛.

o Couples in Three Dimensions

Figure shown below shows two equal and opposite forces 𝐹Ԧ and −𝐹Ԧ acting on a body. The vector 𝑟Ԧ runs from any point B on the

line of action of −𝐹Ԧ to any point A on the line of action of 𝐹.

Ԧ Points A and B are located by position vectors 𝑟Ԧ𝐴 and 𝑟Ԧ𝐵 from any

point O. The combined moment of the two forces about O is

𝑀 = 𝑟Ԧ𝐴 × 𝐹Ԧ + 𝑟Ԧ𝐵 × (−𝐹)

Ԧ

However, 𝑟Ԧ𝐴 − 𝑟Ԧ𝐵 = 𝑟,

Ԧ so that all reference to the moment center O disappears, and the
moment of the couple becomes

𝑀 = 𝑟Ԧ × 𝐹Ԧ
Thus, the moment of a couple is the same about all points. The magnitude of 𝑀 is 𝑀 = 𝐹𝑑, where d is the perpendicular distance
between the lines of action of the two forces
Example 3.3: The turnbuckle is tightened until the tension in cable AB is 2.4 𝑘𝑁. Determine the moment about point O of the cable
force acting on point A and the magnitude of this moment.

Solution. We begin by writing the described force as a vector.

𝑇 = 𝑇 𝑛𝐴𝐵

2.4 − 1.6 𝑖Ԧ + 1.5 − 0 𝑗Ԧ + 0 − 2 𝑘

𝑇 = 2.4
0.82 + 1.52 + −2 2

𝑇 = 0.731 𝑖Ԧ + 1.37 𝑗Ԧ − 1.829 𝑘 𝑘𝑁

The moment of this force about point O is

𝑀𝑂 = 𝑟Ԧ𝑂𝐴 × 𝐹Ԧ = (1.6 𝑖Ԧ + 2 𝑘 ) × (0.731 𝑖Ԧ + 1.37 𝑗Ԧ − 1.829 𝑘)

𝑖Ԧ 𝑗Ԧ 𝑘
𝑀𝑂 = 1.6 0 2 = −2.74 𝑖Ԧ + 4.39 𝑗Ԧ + 2.19 𝑘 𝑘𝑁. 𝑚
0.73 1.37 −1.829

This vector has a magnitude

𝑀𝑂 = (−2.74)2 +4.392 + 2.192 = 5.62 𝑘𝑁. 𝑚

Example 3.4: Determine the moment of the force 𝐹Ԧ = 4 𝑖Ԧ + 12 𝑗Ԧ − 3 𝑘 𝑙𝑏 about an axis extending between A and C. Express the
result as a Cartesian vector.
Solution Ⅰ. Unit vector along AC axis:

𝐴𝐶 4 − 0 𝑖Ԧ + (3 − 0)Ԧ𝑗
𝑛𝐴𝐶 = = = 0 ∙ 8 𝑖Ԧ + 0 ∙ 6 𝑗Ԧ
𝐴𝐶 42 + 32

𝑟Ԧ𝐶𝐵 = −2 𝑘 𝑓𝑡

Moment of force 𝐹Ԧ about AC axis:

𝑟𝐵𝐶𝑥 𝑟𝐵𝐶𝑦 𝑟𝐵𝐶𝑧
Ԧ • 𝑛𝐴𝐶
𝑀𝐴𝐶 = 𝑀𝐶 • 𝑛𝐴𝐶 = (𝑟Ԧ𝐵𝐶 × 𝐹) = 𝐹𝑥 𝐹𝑦 𝐹𝑧
𝑛𝐴𝐶𝑥 𝑛𝐴𝐶𝑦 𝑛𝐴𝐶𝑍
0 0 −2
𝑀𝐴𝐶 = 4 12 −3 = −2 4 ∗ 0.6 − 12 ∗ 0.8 = 14.4 𝑙𝑏. 𝑓𝑡
0.8 0.6 0
Expressing 𝑀𝐴𝐶 as a Cartesian vector yields

𝑀𝐴𝐶 = 𝑀𝐴𝐶 ∗ 𝑛𝐴𝐶 = 14.4 0 ∙ 8 𝑖Ԧ + 0 ∙ 6 𝑗Ԧ = 11.5 𝑖Ԧ + 8.64 𝑗Ԧ 𝑙𝑏. 𝑓𝑡

Solution Ⅱ.

𝑟Ԧ𝐴𝐵 = 4 𝑖Ԧ + 3 𝑗Ԧ − 2 𝑘 𝑓𝑡

Moment of force 𝐹Ԧ about AC axis:

𝑟𝐴𝐵𝑥 𝑟𝐴𝐵𝑦 𝑟𝐴𝐵𝑧
Ԧ • 𝑛𝐴𝐶
𝑀𝐴𝐶 = 𝑀𝐴 • 𝑛𝐴𝐶 = (𝑟Ԧ𝐴𝐵 × 𝐹) = 𝐹𝑥 𝐹𝑦 𝐹𝑧
𝑛𝐴𝐶𝑥 𝑛𝐴𝐶𝑦 𝑛𝐴𝐶𝑍
4 3 −2
𝑀𝐴𝐶 = 4 12 −3 = 4 12 ∗ 0 + 3 ∗ 0.6 − 3(4 ∗ 0 + 3 ∗ 0.8) − 2 4 ∗ 0.6 − 12 ∗ 0.8 = 14.4 𝑙𝑏. 𝑓𝑡
0.8 0.6 0

Expressing 𝑀𝐴𝐶 as a cartesian vector yields

𝑀𝐴𝐶 = 𝑀𝐴𝐶 𝑛𝐴𝐶 = 14.4 0 ∙ 8 𝑖Ԧ + 0 ∙ 6 𝑗Ԧ = 11.5 𝑖Ԧ + 8.64 𝑗Ԧ 𝑙𝑏. 𝑓𝑡

Example 3.5: The two forces acting on the handles of the pipe wrenches constitute a couple 𝑀. Express the couple as a vector.

Solution .
𝑟Ԧ𝐴𝐵 = 𝑥𝐵 − 𝑥𝐴 𝑖Ԧ + 𝑦𝐵 − 𝑦𝐴 𝑗Ԧ + (𝑧𝐵 − 𝑧𝐴 ) 𝑘

𝑟Ԧ𝐴𝐵 = −0.150 − 0 𝑖Ԧ + −0.250 − 0.250 𝑗Ԧ = −0.150 𝑖Ԧ − 0.500 𝑗Ԧ 𝑚

𝐹Ԧ = 150 𝑘 𝑁

𝑖Ԧ 𝑗Ԧ 𝑘
𝑀 = 𝑟Ԧ𝐴𝐵 × 𝐹Ԧ = 𝑟𝐴𝐵𝑥 𝑟𝐴𝐵𝑦 𝑟𝐴𝐵𝑧
𝐹𝑥 𝐹𝑦 𝐹𝑧

𝑖Ԧ 𝑗Ԧ 𝑘
𝑀 = −0.150 −0.500 0 = 𝑖Ԧ −0.500 ∗ 150 − 𝑗Ԧ (−0.150 ∗ 150)
0 0 150

𝑀 = −75 𝑖Ԧ + 22.5 𝑗Ԧ 𝑁. 𝑚
3.3 Resultants
In the previous lecture we defined the resultant as the simplest force combination which can replace a given system of forces
without altering the external effect on the rigid body on which the forces act. We found the magnitude and direction of the
resultant force for the two-dimensional force system by a vector summation of forces and we located the line of action of the
resultant force by applying the principle of moments. These same principles can be extended to three dimensions.
In the previous lecture we showed that a force could be moved to a parallel position by adding a corresponding couple. Thus, for
the system of forces 𝐹Ԧ1 , 𝐹Ԧ2 , 𝐹Ԧ3 acting on a rigid body in the figure we may move each of them in turn to the arbitrary point O,

provided we also introduce a couple for each force transferred. Thus, for example, we may move force 𝐹Ԧ1 to O, provided we

introduce the couple 𝑀1 = 𝑟Ԧ1 × 𝐹Ԧ1 , where 𝑟Ԧ1 is a vector from O to any point on the line of action of 𝐹Ԧ1 . When all forces are
shifted to O in this manner, we have a system of concurrent forces at O and a system of couple vectors.
The concurrent forces may then be added vectorially to produce a resultant force 𝑅, and the couples may also be added to produce

a resultant couple 𝑀. The general force system, then, is reduced to

𝑅 = 𝐹Ԧ1 + 𝐹Ԧ2 + 𝐹Ԧ3 + ⋯ = ෍ 𝐹Ԧ

𝑀 = 𝑀1 + 𝑀2 + 𝑀3 + ⋯ = ෍ 𝑀

The couple vectors are shown through point O, but because they are free vectors, they may be represented in any parallel positions.
The magnitudes of the resultants and their components are

𝑅𝑥 = ෍ 𝐹𝑥 , 𝑅𝑦 = ෍ 𝐹𝑦 , 𝑅𝑧 = ෍ 𝐹𝑧

𝑅= (෍ 𝐹𝑥 )2 +(෍ 𝐹𝑦 )2 +(෍ 𝐹𝑧 )2

𝑀𝑥 = ෍(𝑟 × 𝐹)𝑥 , 𝑀𝑦 = ෍(𝑟 × 𝐹)𝑦 , 𝑀𝑧 = ෍(𝑟 × 𝐹)𝑧

𝑀= (෍ 𝑀𝑥 )2 +(෍ 𝑀𝑦 )2 +(෍ 𝑀𝑧 )2
The point O selected as the point of concurrency for the forces is arbitrary, and the magnitude and direction of 𝑀 depend on the

particular point O selected. The magnitude and direction of 𝑅, however, are the same no matter which point is selected. In

general, any system of forces may be replaced by its resultant force 𝑅 and the resultant couple 𝑀. In dynamics we usually select
the mass center as the reference point. The change in the linear motion of the body is determined by the resultant force, and the
change in the angular motion of the body is determined by the resultant couple. In statics, the body is in complete equilibrium
when the resultant force 𝑅 is zero and the resultant couple 𝑀 is also zero. Thus, the determination of resultants is essential in
both statics and dynamics.

Example 3.6: Determine the resultant of the system of parallel forces which act on the plate. Solve with a vector approach.

Solution. Transfer of all forces to point O results in the force–couple system

𝑅 = ෍ 𝐹Ԧ = 500 + 200 − 50 − 300 𝑗Ԧ = 350 𝑗Ԧ 𝑁

𝑖Ԧ 𝑗Ԧ 𝑘 𝑖Ԧ 𝑗Ԧ 𝑘 𝑖Ԧ 𝑗Ԧ 𝑘
𝑀𝑂 = 0.5 0 0.35 + 0 0 −0.35 + −0.5 0 0
0 −50 0 0 −300 0 0 200 0

𝑀𝑂 = − 0.35 ∗ −50 𝑖Ԧ + −50 ∗ 0.5 𝑘 − −0.35 ∗ −300 𝑖Ԧ + −0.5 ∗ 200 𝑘

𝑀𝑂 = 17.5 − 105 𝑖Ԧ + −25 − 100 𝑘 = −87.5 𝑖Ԧ − 125 𝑘

The placement of 𝑅 so that it alone represents the above force–couple system is determined by the principle of moments in vector
form
𝑀𝑂 = 𝑟Ԧ × 𝑅
𝑖Ԧ 𝑗Ԧ 𝑘
−87.5 𝑖Ԧ − 125 𝑘 = 𝑥 𝑦 𝑧 = −350𝑧 𝑖Ԧ + 350 𝑥 𝑘
0 350 0
From the one vector equation we may obtain the two scalar equations

−350𝑧 = −87.5
350 𝑥 = −125

Hence, 𝑥 = −0.357 m and 𝑧 = 0.250 m are the coordinates through which the line of action of 𝑅 must pass. The value of y may, of
course, be any value, as permitted by the principle of transmissibility. Thus, as expected, the variable y drops out of the above vector
analysis.
Example 3.7: Replace the two wrenches and the force, acting on the pipe assembly, by an equivalent resultant force and couple
moment at point O.
Solution. Force And Moment Vectors:
𝐹Ԧ1 = 300 𝑘 𝑁

𝐹Ԧ2 = 200 cos 45° 𝑖Ԧ − 200 sin 45° 𝑘 = 141.42 𝑖Ԧ − 141.42 𝑘 𝑁

𝐹Ԧ3 = 100 𝑗Ԧ 𝑁

𝑅 = ෍ 𝐹Ԧ = 141.42 𝑖Ԧ + 100 𝑗Ԧ + 300 − 141.42 𝑘 = 141.4 𝑖Ԧ + 100 𝑗Ԧ + 158.6 𝑘 𝑁

𝑀1 = 100 𝑘 𝑁. 𝑚

𝑀2 = 180 cos 45° 𝑖Ԧ − 180 sin 45° 𝑘 = 127.28 𝑖Ԧ − 127.28 𝑘 𝑁. 𝑚

𝑖Ԧ 𝑗Ԧ 𝑘
Ԧ
𝑀3 = 𝑟Ԧ1 × 𝐹1 = 0 0.5 0 = 150 𝑖Ԧ 𝑁. 𝑚
0 0 300
𝑖Ԧ 𝑗Ԧ 𝑘
𝑀4 = 𝑟Ԧ2 × 𝐹Ԧ2 = 0 1.1 0 = −155.56 𝑖Ԧ − 155.56 𝑘 𝑁. 𝑚
141.42 0 −141.42

𝑀𝑂 = ෍ 𝑀 = 127.28 + 150 − 155.56 𝑖Ԧ + 100 − 127.28 − 155.56 𝑘 = 121.72 𝑖Ԧ − 182.84 𝑘 𝑁. 𝑚

 Homework

Q1/. The two forces and one couple act on the elements of a drill press as shown. Determine the equivalent force–couple system at
point O. See figure (1)

Q2/. When the pole OA is in the position shown, the tension in cable AB is 3 kN. (a) Write the tension force exerted on the small collar
at point A as a vector using the coordinates shown. (b) Determine the moment of this force about point O and state the moments about
the x-, y-, and z-axes. (c) Determine the projection of this tension force onto line AO. See figure (2)

Fig. (1) Fig. (2)

Q3/. An oil tanker moves away from its docked position under the action of reverse thrust from screw A, forward thrust from
screw B, and side thrust from the bow thruster C. Determine the equivalent force–couple system at the mass center G. See
figure (3)

Fig. (3)
 References

• J.L. MERIAM, L.G. KRAIGE and J. N . BOLTON, ENGINEERING MECHANICS STATICS, EIGHTH
EDITION

• R. C. HiBBELER, ENGINEERING MECHANICS STATICS, FOURTEENTH EDITION