Rectangular Components in Space


• With the angles between F and the axes,
Fx = F cos  x Fy = F cos  y Fz = F cos  z
   
F = Fx i + Fy j + Fz k

(  
= F cos  x i + cos  y j + cos  z k )

= F
   
 = cos  x i + cos  y j + cos  z k
 
•  is a unit vector along the line of action of F and cos  x , cos  y , and cos  z are the

direction cosines for F
 Rectangular Components in Space
Direction of the force is defined by the location of two
points,

M ( x1 , y1 , z1 ) and N ( x2 , y2 , z 2 )


d = vector joining M and N
  
= d xi + d y j + d z k
d x = x2 − x1 d y = y 2 − y1 d z = z 2 − z1
 
F = F
 
 = (d x i + d y j + d z k )
1  
d
Fd x Fd y Fd z
Fx = Fy = Fz =
d d d
 Rectangular Components in Space: Example 6
SOLUTION:
• Determine the unit vector pointing from A
towards B.
  
AB = (− 40 m ) i + (80 m ) j + (30 m )k
AB = (− 40 m )2 + (80 m )2 + (30 m )2
= 94.3 m
  − 40    80    30  
 = i +   j + k
 94 .3   94.3   94.3 
  
= −0.424 i + 0.848 j + 0.318k
The tension in the guy wire is 2500 N.
Determine:
a) components Fx, Fy, Fz of the force • Determine the components of the force.
 
acting on the bolt at A, F = F

= (2500 N )(− 0.424 i + 0.848 j + 0.318k )
 
b) the angles x, y, z defining the
  
direction of the force = (− 1060 N )i + (2120 N ) j + (795 N )k
Rectangular Components in Space: Example 6

• Noting that the components of the unit vector are the

direction cosines for the vector, calculate the corresponding
angles.

   
 = cos  x i + cos  y j + cos  z k
  
= −0.424 i + 0.848 j + 0.318k

 x = 115.1
 y = 32.0
 z = 71.5
Engineering Mechanics MEI 101

Equivalent System of Forces for

Rigid Bodies

Dr. Antarip Poddar

Department of Mechanical Engineering
IIT (ISM) Dhanbad
Email: antarip@iitism.ac.in
 External and Internal Forces
• Forces acting on rigid bodies are divided
into two groups:

• External forces are exerted by other

bodies on the rigid body under
consideration. They are entirely
responsible for the external behavior of
the rigid body, either causing it to move or
ensuring that it remains at rest.

rigid body instead of a particle

• Internal forces hold together the particles forming the
rigid body. If the rigid body is structurally composed
of several parts, the forces holding the parts together
are also defined as internal forces.
 Principle of Transmissibility
• Principle of Transmissibility -
Two forces F and F’ are equivalent if they have
the same magnitude and direction and the same
line of action, even if they act at different points.

• 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.

• The internal forces and deformations produced by

the two systems are clearly different.
 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.
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.
 Varignon’s Theorem

• The moment about a 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 + 

• Varignon’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.
Rectangular Components of the Moment of a Force

The moment of F about O,

      
MO = r  F, r = xi + yj + zk
   
F = Fx i + Fy j + Fz k

   
M O = M xi + M y j + M z k

   The moment of F about B,

i j k
  
= x y z M B = rA / B  F
Fx Fy Fz   
i j k

 M B = (x A − xB ) ( y A − yB ) (z A − z B )
= ( yFz − zF y )i + ( zFx − xFz ) j + (xFy − yFx )k
 
Fx Fy Fz
 Moment of a Force About a Point : Example 1

A 100-N vertical force is applied to the end of a lever which is attached to

a shaft at O.
Determine:
a) moment about O,
m
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-N vertical force to produce the same moment,
e) whether any of the forces from b, c, and d is equivalent to the original
force.
Moment of a Force About a Point : Example 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.

𝑀𝑂 = 𝐹𝑑
𝑑 = 24m cos 6 0° = 12 m M O = 1200 N  m
𝑀𝑂 = 100 N 12 m

b) Horizontal force at A that produces the same moment,

d = (24 m )sin 60 = 20.8 m

M O = Fd
1200 N  m = F (20.8 m )
1200 N  m
F= F = 57.7 N
20.8 m
Moment of a Force About a Point : Example 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
M O = Fd
1200 N  m = F (24 m ) F = 50 N
1200 N  m
F=
24 m

d) To determine the point of application of a 240 N force to produce the same

moment,

𝑀𝑂 = 𝐹𝑑
1200 N ⋅ m = 240 N 𝑑
1200 N ⋅ m OB = 10 m
𝑑=
240 N
𝑂𝐵cos60° = 5 m
Moment of a Force About a Point : Example 1
e) Although each of the forces in parts b), c), and d) produces the same
moment as the 100 N 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 N
force.
 Rectangular Components of Moment of a Force: Example 2
SOLUTION:
The moment MA of the force F exerted by the wire is obtained as,
  
M A = rC A  F

𝑟Ԧ𝐶Τ𝐴 = 𝑟Ԧ𝐶 − 𝑟Ԧ𝐴 = 0.3 m 𝑖Ԧ + 0.08 m 𝑘

𝑟Ԧ𝐷Τ𝐶
𝐹Ԧ = 𝐹 𝜆Ԧ = 200 N
𝑟𝐷Τ𝐶
− 0.3 m 𝑖Ԧ + 0.24 m 𝑗Ԧ − 0.32 m 𝑘
= 200 N
0.5 m
The rectangular plate is = − 120 N 𝑖Ԧ + 96 N 𝑗Ԧ − 128 N 𝑘
supported by the brackets at A
and B and by a wire CD.   
i j k
Knowing that the tension in the 
wire is 200 N, determine the M A = 0.3 0 0.08
moment about A of the force − 120 96 − 128
exerted by the wire at C.    
M A = −(7.68 N  m) i + (28.8 N  m) j + (28.8 N  m)k
 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 )

• Moments of F about the coordinate axes,

M x = yFz − zFy
M y = zFx − xFz
• Moment of a force about an arbitrary axis,
M z = xFy − yFx
 
M BL =  •MB
  
=  • (rA B  F )
  
rA B = rA − rB
 Moment of a Force About a Given Axis: Example 3
SOLUTION:
a) Moment of P about A,
𝑀𝐴 = 𝑟Ԧ𝐹Τ𝐴 × 𝑃
𝑟Ԧ𝐹Τ𝐴 = 𝑎Ԧ𝑖 − 𝑎Ԧ𝑗 = 𝑎 𝑖Ԧ − 𝑗Ԧ
𝑃 = (𝑃/ 2Ԧ𝑗 − 𝑃/ 2𝑘)
𝑀𝐴 = 𝑎 𝑖Ԧ − 𝑗Ԧ × 𝑃/ 2 𝑗Ԧ − 𝑘

𝑀𝐴 = 𝑎𝑃/ 2 𝑖Ԧ + 𝑗Ԧ + 𝑘

A cube is acted on by a force P as shown.

Determine the moment of P b) Moment of P about AB,
a) about A 𝑀𝐴𝐵 = 𝑖Ԧ • 𝑀𝐴
b) about the edge AB and = 𝑖Ԧ • 𝑎𝑃/ 2 𝑖Ԧ + 𝑗Ԧ + 𝑘
c) about the diagonal AG of the cube.
𝑀𝐴𝐵 = 𝑎𝑃/ 2
d) Determine the perpendicular distance
between AG and FC.
 Moment of a Force About a Given Axis: Example 3

c) Moment of P about the diagonal AG, d) Perpendicular distance between AG and FC,
  P   1   
𝑀𝐴𝐺 = 𝜆Ԧ • 𝑀𝐴 P• =
2
( j − k )•
3
(i − j − k )=
P
6
(0 − 1 + 1)
𝐴𝐺 𝑎Ԧ𝑖 − 𝑎Ԧ𝑗 − 𝑎𝑘 1
𝜆Ԧ = = = 𝑖Ԧ − 𝑗Ԧ − 𝑘 =0
𝐴𝐺 𝑎 3 3
𝑎𝑃
𝑀𝐴 = 𝑖Ԧ + 𝑗Ԧ + 𝑘 Therefore, P is perpendicular to AG.
2
1 𝑎𝑃
𝑀𝐴𝐺 = 𝑖Ԧ − 𝑗Ԧ − 𝑘 • 𝑖Ԧ + 𝑗Ԧ + 𝑘 aP a
3 2 M AG = = Pd d=
𝑎𝑃 6 6
= 1−1−1
6

aP
M AG = −
6
 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 about O,

𝑀 = 𝑟Ԧ𝐴 × 𝐹Ԧ + 𝑟Ԧ𝐵 × −𝐹Ԧ

= 𝑟Ԧ𝐴 − 𝑟Ԧ𝐵 × 𝐹Ԧ
= 𝑟Ԧ × 𝐹Ԧ

𝑀 = 𝑟𝐹 sin 𝜃 = 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.
 Moment of a Couple
Two couples will have equal moments if

• F1d1 = F2 d 2

• 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.
Resolution of Force into Force-Couple System
• Force vector F cannot be simply moved to O
without modifying its action on the body.

• Attaching equal and opposite force vectors at O

produces no net effect (other than that of F) on the body.

• The three forces may be replaced by an

equivalent force vector and couple vector,
i.e, a force-couple system.
 Moment of a Couple: Example 4
SOLUTION:
• Attach equal and opposite 20 N forces in the +x direction at A

• The three couples may be represented by three couple vectors,

M x = −(30 N )(18 m ) = −540 N  m

M y = +(20 N )(12 m ) = +240 N  m
M z = +(20 N )(9 m ) = +180 N  m
  
M = −(540 N  m ) i + (240 N  m ) j

+ (180 N  m )k

Determine the components of

the single couple equivalent to
the couples shown.
 Reduce System of Forces to Force & Couple: Example 5
SOLUTION:
a) Compute the resultant force and the resultant couple at A.
 
R = F
   
= (150 N ) j − (600 N ) j + (100 N ) j − (250 N ) j
 
R = −(600 N ) j

For the beam, reduce the system of forces

shown to
(a) an equivalent force-couple system at A, R  
M A =  (r  F )
(b) an equivalent force couple system at B.    
= (1.6 i ) (− 600 j ) + (2.8 i ) (100 j ) y
(c) a single force or resultant.  
+ (4.8 i ) (− 250 j )
Note: Since the support reactions are not
R 
A = −(1880 N  m )k
included, the given system will not maintain M
the beam in equilibrium.
x
Reduce System of Forces to Force & Couple: Example 5
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.

𝑀𝐵𝑅 = 𝑀𝐴𝑅 + 𝐵𝐴 × 𝑅
= − 1880 N ⋅ m 𝑘 + −4.8 m 𝑖Ԧ × −600 N 𝑗Ԧ
= − 1880 N ⋅ m 𝑘 + 2880 N ⋅ m 𝑘

𝑀𝐵𝑅 = + 1000 N ⋅ m 𝑘
Reduce System of Forces to Force & Couple: Example 5
c) The resultant of the given system of forces is equal to R, and its point
of application must be such that the moment of R about A is equal to 𝑀𝐴𝑅

𝑅 = − 600 N 𝑗Ԧ

This equality of moments leads to

𝑟Ԧ × 𝑅 = 𝑀𝐴𝑅

𝑜𝑟, − 𝑥 𝑖Ԧ × −600 𝑗Ԧ = −1800 𝑘

Wrench and its Application

• A wrench or screw driver is a tool used to provide torque to turn

objects—usually rotary fasteners, such as screws, nuts and bolts or
keep them from turning.

Resultant couple M is parallel to the resultant force R, the

resultant is called as wrench.
 Reduction of a system of forces to a wrench
In the general case of a system of forces in space, the equivalent
force-couple system at O consists of a force 𝑅 and a couple vector

𝑀𝑂𝑅 which not perpendicular.

Couple replaced by two couple vectors by resolving 𝑀𝑂𝑅 into a component

𝑀1 along 𝑅 and a component 𝑀2 in a plane perpendicular to 𝑅

Projection of 𝑀𝑂𝑅 on the line of action of 𝑅

The couple vector 𝑀2 and the force 𝑅 can then be replaced by wrench
a single force 𝑅 acting along a new line of action.
 Define the axis of the wrench

𝑟Ԧ : position vector of an arbitrary point P

located on the wrench axis.

Equivalent:
The line of action of 𝑅 is known as the axis of the wrench

𝑀1
Pitch of the wrench of 𝑝 =
𝑅

Equivalent: