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RECTANGULAR COMPONENTS
Direction cosine representation 𝐹 = 𝐹 cos 𝜃 𝐹 = 𝐹 cos 𝜃
z
𝐹 = 𝐹 cos 𝜃
𝐹
𝐹 𝐤
y 𝐹= 𝐹 +𝐹 +𝐹
𝜃 𝜃
𝐹 𝐣
k
𝜃 𝐅 =𝐹 𝐢+𝐹 𝐣+𝐹𝐤
j
𝐹 𝐢
i
x
𝐅 = 𝐹 cos 𝜃 𝐢 + cos 𝜃 𝐣 + cos 𝜃 𝐤
RECTANGULAR COMPONENTS
𝐅 = 𝐹 𝑙𝐢 + 𝑚𝐣 + 𝑛𝐤
𝐹 𝑙 = cos 𝜃 𝑚 = cos 𝜃
𝐹 𝐤
y
𝑛 = cos 𝜃
𝜃 𝜃
𝐹 𝐣 𝑙 +𝑚 +𝑛 =1
k
𝜃 Force in terms of unit vector
j
𝐹 𝐢 𝐅 = 𝐹𝐧
i
x
Right handed set of axes 𝐧 = 𝑙𝐢 + 𝑚𝐣 + 𝑛𝐤
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A (z2 – z1)
(x1, y1, z1)
𝐅 = 𝐹𝐧
y
(x2 – x1)
AB
x
𝐧 =
(y2 – y1) AB
𝑥 −𝑥 𝐢+ 𝑦 −𝑦 𝐣+ 𝑧 −𝑧 𝐤
𝐧 =
𝑥 −𝑥 + 𝑦 −𝑦 + 𝑧 −𝑧
𝐹 = 𝐹 cos 𝜑
F
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Dot Product
P 𝐏. 𝐐 = (𝑃 cos 𝛼)𝑄
𝐏. 𝐐 = 𝑃𝑄 cos 𝛼
z Projection of F along x
Q
𝐅. 𝐢 = 𝐹 cos 𝜃
𝐹
𝐹 𝐤
y
𝜃 𝜃
𝐹 𝐣
k
𝜃
j
𝐹 𝐢
i
x
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𝐅 = 𝐹 𝑙𝐢 + 𝑚𝐣 + 𝑛𝐤 𝐧 = 𝛼𝐢 + 𝛽𝐣 + 𝛾𝐤
F
𝐹 = 𝐅. 𝐧 = 𝐹 𝑙𝐢 + 𝑚𝐣 + 𝑛𝐤 . 𝛼𝐢 + β𝐣 + 𝛾𝐤
n (unit vector)
𝐹 = 𝐹 𝑙𝛼 + 𝑚𝛽 + 𝑛𝛾
Since
𝐢. 𝐢 = 𝐣. 𝐣 = 𝐤. 𝐤 = 1
𝐢. 𝐣 = 𝐣. 𝐢 = 𝐢. 𝐤 = 𝐤. 𝐢 = 𝐤. 𝐣 = 𝐣. 𝐤 = 0
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𝐏. 𝐐
𝜃 = cos
𝑃𝑄
P
This also true for P
Q
𝐅. 𝐧
𝜃 = cos
𝐹
Moment in 3 Dimensions
MO
𝐌 =𝐫 × 𝐅
r
O 𝐫: vector from O to any point on line of action of F
A d
F MO
r
A O
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𝐢 𝐣 𝐤
z
𝐌 = 𝑟 𝑟 𝑟
A Fy
Mz
𝐹 𝐹𝒚 𝐹
rz y Fx
r 𝐌 = 𝑟 𝐹 −𝑟 𝐹 𝒊+
My
rx 𝑟𝐹 −𝑟 𝐹 𝒋+ 𝑟 𝐹 −𝑟 𝐹 𝒌
O ry
𝑀 = 𝑟 𝐹 −𝑟𝐹
x
Mx
𝑀 = 𝑟𝐹 −𝑟 𝐹
𝑀 = 𝑟 𝐹 −𝑟 𝐹
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O 𝑟 𝑟 𝑟
𝐌 =𝑀 = 𝐹 𝐹𝒚 𝐹
𝛼 𝛽 𝛾
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F2
𝐌 =Σ 𝐫×𝐅 =𝐫×𝐑
A F1
O r
𝐌 = 𝐫 −𝐫 ×𝐅
–F F
B r 𝐌 =𝐫×𝐅
A
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Summation of Couples
M1 M
–F1 M1
F1
F2 M2 F
M2
–F
–F2
Force–couple system in D
𝐌 =𝐫×𝐅
F F
F F
A
A r
B B B
–F Equivalent System
Original System
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Example 1
A tension T of magnitude 10 kN is applied to the cable attached
to the top A of the rigid mast and secured to the ground at B.
Determine the moment Mz of T about the z-axis passing
through the base O.
Example 1
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Resultant
M2 M3 Equivalent System
Original System
M
F1 F1
M1 R
F2 F2
O O
O
F3
F3
𝐑 = 𝐅 + 𝐅 + 𝐅 + ⋯ = Σ𝐅 𝐌 = 𝐌 +𝐌 +𝐌 +⋯ = Σ 𝐫×𝐅
𝑅 = Σ𝐹 𝑀 =Σ 𝐫×𝐅 𝑀 =Σ 𝐫×𝐅
𝑅 = Σ𝐹
𝑅 = Σ𝐹 𝑀 =Σ 𝐫×𝐅
𝑅= Σ𝐹 + Σ𝐹 + Σ𝐹 𝑀= 𝑀 +𝑀 +𝑀
Special Cases
Concurrent Forces
No moments about the point of concurrency.
Parallel Forces.
Magnitude of the parallel resultant force R is simply
the magnitude of the algebraic sum of the given
forces.
Coplanar Forces.
Similar to 2D cases
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Wrench Resultant
When the resultant couple vector M is parallel
to the resultant force R, the resultant is called a
wrench
R
R M
M
Wrench Resultant
M M
M1
M2 R
M1
R R R
d
O
O
O
–R
(c)
(a) (b)
Original System
R
O
(d)
M1
Equivalent System
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Example 2
Replace the two forces and the negative wrench by a single
force R applied at A and the corresponding couple M.
Example 2
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References :
Thanking you
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