3 Moment of Force Systems

Technological Institute of the Philippines Prepared by: Engr. Adams Royce A.
Dionisio, RCE
938 Aurora Blvd., Cubao, Quezon City Structural Engineer
College of Engineering and Architecture
Department of Civil Engineering
CE 001
Statics of Rigid Bodies

Technological Institute of the Philippines Prepared by: Engr. Adams Royce A. Dionisio, RCE
Moment of Force Systems
Moment- is a measure of the ability to produce turning or twisting or the tendency to rotate about an axis.
𝑴𝑶 = 𝑭𝒅
𝑴- moment of a force about an axis; if presented as a vector, it is perpendicular to the plane containing the
vector force and the position vector, with a direction complying with the right-hand rule
𝑶- center of moment, intersection of axis of moment and the perpendicular plane containing the force
𝑭- force that tends to rotate about an axis
𝒅- moment arm, perpendicular distance between the center of moment and the line of action of the force
Moment- is equal to twice the area of the triangle formed by joining the
center of moments with the ends of the force
1 1
𝐹𝑎 𝐴 = 𝑏ℎ 𝐴 = 𝐹𝑎 𝑑
2 2
𝑑
𝑴𝑶 2𝐴 = 𝐹𝑎 𝑑 = 𝑀𝑂
𝑶 𝒅
•𝑂
The Principle of Transmissibility- states that the external effect of a
𝑭
force is the same at all points of application along its line of action.
Illustrative Example
↻ +𝑀𝑂 = −𝐹𝑑 ↻ +𝑀𝑂 = −𝐹(𝑑 sin 𝜃) ↻ +𝑀𝑂 = −𝐹 0 = 0

Multiplication of Vectors
Vector Product or Cross Product
𝑨 𝒙 𝑩 = 𝐴𝐵 sin 𝜃
𝑪=𝑨𝒙𝑩 𝑪 − 𝑝𝑒𝑟𝑝𝑒𝑛𝑑𝑖𝑐𝑢𝑙𝑎𝑟 𝑡𝑜 𝑡ℎ𝑒 𝑝𝑙𝑎𝑛𝑒 𝑐𝑜𝑛𝑡𝑎𝑖𝑛𝑖𝑛𝑔 𝑨 𝑎𝑛𝑑 𝑩
𝑨 𝒙 𝑩 = 𝐵(𝐴 sin 𝜃)
𝑩
𝑨 𝒙 𝑩 = 𝑎𝑟𝑒𝑎 𝑜𝑓 𝑝𝑎𝑟𝑎𝑙𝑙𝑒𝑙𝑜𝑔𝑟𝑎𝑚 𝑤𝑖𝑡ℎ 𝑠𝑖𝑑𝑒𝑠 𝐴 𝑎𝑛𝑑 𝐵
𝜃
𝑩𝒙𝑨≠𝑨𝒙𝑩 𝑛𝑜𝑡 𝑐𝑜𝑚𝑚𝑢𝑡𝑎𝑡𝑖𝑣𝑒 𝑩 𝒙 𝑨 = −(𝑨 𝒙 𝑩)
𝑨
𝑨 𝒙 𝑩 𝒙 𝑫 ≠ 𝑨 𝒙 (𝑩 𝒙 𝑫) 𝑛𝑜𝑡 𝑎𝑠𝑠𝑜𝑐𝑖𝑎𝑡𝑖𝑣𝑒
𝑨 𝒙 𝑩 + 𝑫 = 𝑨 𝒙 𝑩 + 𝑨 𝒙 𝑫 𝑑𝑖𝑠𝑡𝑟𝑖𝑏𝑢𝑡𝑖𝑣𝑒
𝑨 = 𝐴 𝑥 𝒊 + 𝐴𝑦 𝒋 + 𝐴𝑧 𝒌 𝑩 = 𝐵𝑥 𝒊 + 𝐵𝑦 𝒋 + 𝐵𝑧 𝒌 𝒊 𝒋 𝒌
𝑨 𝒙 𝑩 = 𝑪 = 𝐴𝑦 𝐵𝑧 − 𝐴𝑧 𝐵𝑦 𝒊 + 𝐴𝑧 𝐵𝑥 − 𝐴𝑥 𝐵𝑧 𝒋 + 𝐴𝑥 𝐵𝑦 − 𝐴𝑦 𝐵𝑥 𝒌 𝑪 = 𝐴𝑥 𝐴𝑦 𝐴𝑧
𝐵𝑥 𝐵𝑦 𝐵𝑧
𝑪 = 𝐶𝑥 𝒊 + 𝐶𝑦 𝒋 + 𝐶𝑧 𝒌
Determinants
Determinants- is a square array of numbers enclosed within vertical bars.
Methods
Laplace’s Expansion- or cofactor expansion method, states that the numerical value represented by the
determinant is equal to the sum of the products of the elements of any row or column and their respective
cofactors (i.e. 𝐶𝑖𝑗 = (−1)𝑖+𝑗 𝑀𝑖𝑗 )
Minor or submatrix
Adjoint Matrix- (𝑐𝑜𝑓𝑎𝑐𝑡𝑜𝑟 𝑚𝑎𝑡𝑟𝑖𝑥)𝑇

Determinants
Chios Method Basket Method- also called spider web method.
𝑎 𝑏 𝑎 𝑏
𝑨= |𝑨| =
𝑐 𝑑 𝑐 𝑑
𝑨 = 𝑎𝑑 − 𝑏𝑐
𝑎 𝑏 𝑐 𝑎 𝑏 𝑐 𝑎 𝑏
𝑎11 𝑎12 𝑎11 𝑎13 𝑎11 𝑎1𝑛
𝑩= 𝑑 𝑒 𝑓 |𝑩| = 𝑑 𝑒 𝑓ቮ 𝑑 𝑒
𝑎21 𝑎22 𝑎21 𝑎23 ⋯ 𝑎21 𝑎2𝑛
𝑎11 𝑎12 𝑎11 𝑎13 𝑎11 𝑎1𝑛 𝑔 ℎ 𝑖 𝑔 ℎ 𝑖 𝑔 ℎ
|𝑨| = (𝑎11 )2−𝑛 𝑎31 𝑎32 𝑎31 𝑎33 ⋯ 𝑎31 𝑎3𝑛
⋮ ⋮ ⋮ |𝑩| = 𝑎𝑒𝑖 + 𝑏𝑓𝑔 + 𝑐𝑑ℎ − (𝑐𝑒𝑔 + 𝑎𝑓ℎ + 𝑏𝑑𝑖)
𝑎11 𝑎12 𝑎11 𝑎13 𝑎11 𝑎1𝑛
𝑎𝑚1 𝑎𝑚2 𝑎𝑚1 𝑎𝑚3 ⋯ 𝑎𝑚1 𝑎𝑚𝑛
Sample Problems:
Given a 4x4 matrix, find the determinant using purely;
1. Cofactor Expansion Method 1 2 1 0

2. Chios Method 0 3 1 1
𝑨=
3. Reduce to 3x3 matrix and use Basket Method −1 0 3 1
3 1 2 0
Solution:
1. Cofactor Expansion Method
1 2 1 0 3 1 1 0 1 1 0 3 1 0 3 1
0 3 1 1 𝑨 =1 0 3 1 − 2 −1 3 1 + 1 −1 0 1 − 0 −1 0 3
𝑨=
−1 0 3 1 1 2 0 3 2 0 3 1 0 3 1 2
3 1 2 0
3 1 1
3 1 0 1 0 3
1 0 3 1 =1 3 −1 +1 = −8
2 0 1 0 1 2 0 3 1
1 2 0 0 1 −1 1 −1 0
1 −1 0 1 = 1 0 −3 +1 =8
1 0 3 0 3 1
3 1 0
0 1 1
3 1 −1 1 −1 3
−2 −1 3 1 = −2 0 −1 +1 = 16 𝑨 = −8 + 16 + 8 − 0 = 16
2 0 3 0 3 2
3 2 0
Sample Problems:
1 2 1 0
2. Chios Method 𝑨=
3 1 2 0
Solution:
2. Chios Method
1 2 1 1 1 0
0 3 0 1 0 1 3 1 1 3 1 1
1 2 1 1 1 0 𝑨 = 1 −2
2 4 1 = 2 4 1
|𝑨| = (1)2−4
−1 0 −1 3 −1 1 −5 −1 0 −5 −1 0
1 2 1 1 1 0
3 1 3 2 3 0
−1 10 1 1 10 1
3 1 3 1 𝑨 = 3 =
2 4 2 1 2 5 3 2 5
|𝑨| = (3)2−3
3 1 3 1 1 10 1 1
−5 −1 −5 0 𝑨 = (10)2−2 = 48 = 16
3 2 5 3
Sample Problems:
1 2 1 0
2. Chios Method 𝑨=
3 1 2 0
Solution:
3. Reduce to 3x3 matrix and use Basket Method
1 2 1 1 1 0
0 3 0 1 0 1 3 1 1 3 1 1
1 2 1 1 1 0 𝑨 = 1 −2
2 4 1 = 2 4 1
|𝑨| = (1)2−4
−1 0 −1 3 −1 1 −5 −1 0 −5 −1 0
1 2 1 1 1 0
3 1 3 2 3 0
3 1 1 3 1
|𝑨| = 2 4 1อ 2 4 |𝑨| = 3 4 0 + 1 1 −5 + 1(2)(−1) − 1 4 −5 + 3 1 −1 + 1(2)(0) = 16
−5 −1 0 −5 −1
Moment of Force- Vector Analysis
𝑴𝑶 = 𝒓 𝒙 𝑭
𝑴- moment of a force about an axis; if presented as a vector, it is perpendicular to the plane containing the
vector force and the position vector, with a direction complying with the right-hand rule
𝒓- a position vector directed from O to any point on the line of action of F
𝐹𝑜𝑟 𝑚𝑜𝑚𝑒𝑛𝑡 𝑎𝑏𝑜𝑢𝑡 𝑖 𝑎𝑥𝑖𝑠:
𝒓 = 𝑟𝑥 𝒊 + 𝑟𝑦 𝒋 + 𝑟𝑧 𝒌 ↺ +𝑴𝑹𝒊 = 𝑟𝑦 𝐹𝑧 − 𝑟𝑧 𝐹𝑦 + (0)𝐹𝑥
𝑀𝑂 𝑦 𝑭 = 𝐹𝑥 𝒊 + 𝐹𝑦 𝒋 + 𝐹𝑧 𝒌 ↺ +𝑴𝑹𝒊 = 𝑟𝑦 𝐹𝑧 − 𝑟𝑧 𝐹𝑦
𝐹𝑦 𝐹𝑜𝑟 𝑚𝑜𝑚𝑒𝑛𝑡 𝑎𝑏𝑜𝑢𝑡 𝑗 𝑎𝑥𝑖𝑠:
𝑟𝑦
𝑭 ↺ +𝑴𝑹𝒋 = 𝑟𝑧 𝐹𝑥 − 𝑟𝑥 𝐹𝑧 + (0)𝐹𝑦
↺ +𝑴𝑹𝒋 = 𝑟𝑧 𝐹𝑥 − 𝑟𝑥 𝐹𝑧
𝒓 𝐹𝑧 𝐹𝑥 𝐹𝑜𝑟 𝑚𝑜𝑚𝑒𝑛𝑡 𝑎𝑏𝑜𝑢𝑡 𝑘 𝑎𝑥𝑖𝑠:
[𝑨 𝒙 𝑩 = 𝐴𝐵 sin 𝜃] 𝑂 𝑟𝑥 𝑥 ↺ +𝑴𝑹𝒌 = 𝑟𝑥 𝐹𝑦 − 𝑟𝑦 𝐹𝑥 + (0)𝐹𝑧
𝒓 𝒙 𝑭 = 𝑟𝐹 sin 𝜃 𝑧 𝑟 ↺ +𝑴𝑹𝒌 = 𝑟𝑥 𝐹𝑦 − 𝑟𝑦 𝐹𝑥
𝑧
𝒓 𝒙 𝑭 = 𝐹(𝑟 sin 𝜃)
𝒊 𝒋 𝒌
𝒓 𝒙 𝑭 = 𝐹 𝑑 = 𝑴𝑶 ↺
𝒓 𝒙 𝑭 = 𝑟𝑦 𝐹𝑧 − 𝑟𝑧 𝐹𝑦 𝒊 + 𝑟𝑧 𝐹𝑥 − 𝑟𝑥 𝐹𝑧 𝒋 + 𝑟𝑥 𝐹𝑦 − 𝑟𝑦 𝐹𝑥 𝒌 = 𝑟𝑥 𝑟𝑦 𝑟𝑧
𝐹𝑥 𝐹𝑦 𝐹𝑧
Sample Problems:
1. For each case illustrated in the figure below, determine the moment of the force about point O.
Solution:
↺ +𝑀𝑂 = 40 𝑙𝑏 4 + 2 cos 30° 𝑓𝑡
[𝑴𝑶 = 𝑭𝒅]
↺ +𝑀𝑂 = −229.28 𝑙𝑏 ∙ 𝑓𝑡 = 229.28 𝑙𝑏 ∙ 𝑓𝑡 ↻
↺ +𝑀𝑂 = 100 𝑁 2 𝑚
↺ +𝑀𝑂 = −200 𝑁 ∙ 𝑚 = 200 𝑁 ∙ 𝑚 ↻
↺ +𝑀𝑂 = 60 𝑙𝑏 1 sin 45° 𝑓𝑡

↺ +𝑀𝑂 = +42.43 𝑙𝑏 ∙ 𝑓𝑡 = 42.43 𝑙𝑏 ∙ 𝑓𝑡 ↺
↺ +𝑀𝑂 = 50 𝑁 0.75 𝑚 ↺ +𝑀𝑂 = 7 𝑘𝑁 4 − 1 𝑚
↺ +𝑀𝑂 = −37.5 𝑁 ∙ 𝑚 = 37.5 𝑁 ∙ 𝑚 ↻ ↺ +𝑀𝑂 = +21 𝑘𝑁 ∙ 𝑚 = 21 𝑘𝑁 ∙ 𝑚 ↺
Sample Problems:
2. Determine the resultant moment of the four forces acting on the rod shown below.
Solution:
𝑴𝑹𝑶 = ෍ 𝑴𝑶
↺ +𝑀𝑅𝑂 = − 50 𝑁 2 𝑚 + 60 𝑁 0 − 40 𝑁 2 + 2 + 3 cos 30° 𝑚 + 20 𝑁 3 sin 30° 𝑚

↺ +𝑀𝑅𝑂 = −333.92 𝑁 ∙ 𝑚 = 333.92 𝑁 ∙ 𝑚 ↻
Sample Problems:
3. Determine the moment produced by the force F about point O in the figure. Express the result as a Cartesian
vector.
Solution:
𝑑𝑥 𝒊 + 𝑑𝑦 𝒋 + 𝑑𝑧 𝒌
𝑭=𝐹 𝝀 𝑭=𝐹
𝑑
4 − 0 𝒊 + 12 − 0 𝒋 + (0 − 12)𝒌
𝑭 = 2 𝑘𝑁
(4 − 0)2 +(12 − 0)2 +(0 − 12)2
𝑭 = 0.459𝒊 + 1.376𝒋 − 1.376𝒌 𝑘𝑁
[𝑴𝑶 = 𝒓 𝒙 𝑭]
𝑴𝑶 = 0𝒊 + 0𝒋 + 12𝒌 𝒙 0.459𝒊 + 1.376𝒋 − 1.376𝒌
𝒊 𝒋 𝒌 𝒊 𝒋 𝒌
𝒓𝑨 = (0𝒊 + 0𝒋 + 12𝒌) 𝑚 𝒓 𝒙 𝑭 = 𝑟𝑥 𝑟𝑦 𝑟𝑧 = 0 0 12
𝒓𝑩 = 4𝒊 + 12𝒋 + 0𝒌 𝑚 𝐹𝑥 𝐹𝑦 𝐹𝑧 0.459 1.376 −1.376
𝒓 𝒙 𝑭 = 0 −1.376 − 12 1.376 𝒊 − 0 −1.376 − 12 0.459 𝒋 + 0 1.376 − 0 0.459 𝒌
𝒓 𝒙 𝑭 = −16.512 𝒊 + 5.508 𝒋 + 0 𝒌 = −16.512𝒊 + 5.508𝒋 𝑘𝑁 ∙ 𝑚
Sample Problems:
vector.
Solution:
𝑑𝑥 𝒊 + 𝑑𝑦 𝒋 + 𝑑𝑧 𝒌
𝑭=𝐹 𝝀 𝑭=𝐹
𝑑
4 − 0 𝒊 + 12 − 0 𝒋 + (0 − 12)𝒌
𝑭 = 2 𝑘𝑁
(4 − 0)2 +(12 − 0)2 +(0 − 12)2
𝑭 = 0.459𝒊 + 1.376𝒋 − 1.376𝒌 𝑘𝑁
𝑴𝑶 = 4𝒊 + 12𝒋 + 0𝒌 𝒙 0.459𝒊 + 1.376𝒋 − 1.376𝒌
𝒊 𝒋 𝒌 𝒊 𝒋 𝒌
𝒓𝑨 = (0𝒊 + 0𝒋 + 12𝒌) 𝑚 𝒓 𝒙 𝑭 = 𝑟𝑥 𝑟𝑦 𝑟𝑧 = 4 12 0
𝒓𝑩 = 4𝒊 + 12𝒋 + 0𝒌 𝑚 𝐹𝑥 𝐹𝑦 𝐹𝑧 0.459 1.376 −1.376
𝒓 𝒙 𝑭 = 12 −1.376 − 0 1.376 𝒊 − 4 −1.376 − 0 0.459 𝒋 + 4 1.376 − 12 0.459 𝒌
𝒓 𝒙 𝑭 = −16.512 𝒊 + 5.508 𝒋 + 0 𝒌 = −16.512𝒊 + 5.508𝒋 𝑘𝑁 ∙ 𝑚
Sample Problems:
vector.
Solution:
𝑂𝑡ℎ𝑒𝑟 𝑆𝑜𝑙𝑢𝑡𝑖𝑜𝑛: 𝑑𝑥 𝒊 + 𝑑𝑦 𝒋 + 𝑑𝑧 𝒌 MODE
𝑭=𝐹 𝝀 𝑭=𝐹 8: VECTOR
𝑑
𝒓𝑩 − 𝒓𝑨 𝑉𝑐𝑡 𝐵 − 𝑉𝑐𝑡 𝐴
𝑭 = 2 𝑘𝑁 𝑭=𝐹
𝐴𝑏𝑠(𝒓𝑩 − 𝒓𝑨 ) 𝐴𝑏𝑠(𝑉𝑐𝑡 𝐵 − 𝑉𝑐𝑡 𝐴)
𝑭 = 0.459𝒊 + 1.376𝒋 − 1.376𝒌 𝑘𝑁
𝑴𝑶 = 0𝒊 + 0𝒋 + 12𝒌 𝒙 0.459𝒊 + 1.376𝒋 − 1.376𝒌
𝒓 𝒙 𝑭 = 𝑉𝑐𝑡 𝐴 𝑥 𝑉𝑐𝑡 𝐴ns
𝒓𝑨 = (0𝒊 + 0𝒋 + 12𝒌) 𝑚 𝒓 𝒙 𝑭 = −16.518 𝒊 + 5.506 𝒋 + 0 𝒌 = −16.518𝒊 + 5.506𝒋 𝑘𝑁 ∙ 𝑚
𝒓𝑩 = 4𝒊 + 12𝒋 + 0𝒌 𝑚
𝑴𝑶 = 4𝒊 + 12𝒋 + 0𝒌 𝒙 0.459𝒊 + 1.376𝒋 − 1.376𝒌
𝒓 𝒙 𝑭 = 𝑉𝑐𝑡 𝐵 𝑥 𝑉𝑐𝑡 𝐴ns
𝒓 𝒙 𝑭 = −16.518 𝒊 + 5.506 𝒋 + 0 𝒌 = −16.518𝒊 + 5.506𝒋 𝑘𝑁 ∙ 𝑚
Sample Problems:
4. Two forces act on the rod shown in the figure. Determine the resultant moment they create about the flange
at O. Express the result as a Cartesian vector.
Solution:
𝒓𝑨 = 0𝒊 + 5𝒋 + 0𝒌 𝑓𝑡
𝒓𝑩 = 4𝒊 + 5𝒋 − 2𝒌 𝑓𝑡
MODE
8: VECTOR
𝑴𝑹 = ෍ 𝑴𝑶
𝑴𝑹 = 𝒓𝑨 𝒙 𝑭𝟏 + 𝒓𝑩 𝒙 𝑭𝟐
𝑴𝑹 = 100𝒊 + 0𝒋 + 300𝒌 + −70𝒊 − 40𝒋 − 240𝒌
𝑴𝑹 = 30𝒊 − 𝟒0𝒋 + 60𝒌 𝑓𝑡 ∙ 𝑙𝑏
Varignon’s Theorem
-also known as Principle of Moments, states that the moment of a force about a point is equal to the sum of
the moments of the components of the force about the point, originally developed by the French Mathematician
Pierre Varignon (1654–1722).
𝑹𝟏
𝑹
𝒓 𝑹𝟐
𝑶
[𝑨 𝒙 𝑩 + 𝑫 = 𝑨 𝒙 𝑩 + 𝑨 𝒙 𝑫]
𝑴𝑶 = 𝒓 𝒙 𝑹 = 𝒓 𝒙 (𝑹𝟏 + 𝑹𝟐 ) = 𝒓 𝒙 𝑹𝟏 + 𝒓 𝒙 𝑹𝟐
Sample Problems:
5. Determine the moment of the force in the figure below about point O.
Solution:
3 cos 30° 𝑑 𝑴𝑶 = 5 𝑘𝑁 (3 sin 75° 𝑚)
[𝑴𝑶 = 𝑭𝒅] sin 75° =
5 cos 45° 3𝑚 𝑴𝑶 = 14.489 𝑘𝑁 ∙ 𝑚 ↻
3 sin 30°
5 sin 45° 𝑎𝑙𝑡𝑒𝑟𝑛𝑎𝑡𝑖𝑣𝑒 𝑠𝑜𝑙𝑢𝑡𝑖𝑜𝑛:
[𝒓 𝒙 𝑹 = 𝒓 𝒙 𝑹𝟏 + 𝒓 𝒙 𝑹𝟐 ]
↻ +𝑴𝑶 = 5 sin 45° 𝑘𝑁 (3 cos 30° 𝑚)+5 cos 45° 𝑘𝑁 (3 sin 30° 𝑚)
5 cos 45° ↻ +𝑴𝑶 = +14.489 𝑘𝑁 ∙ 𝑚 = 14.489 𝑘𝑁 ∙ 𝑚 ↻
3 sin 30° 5 sin 45°
𝑎𝑙𝑡𝑒𝑟𝑛𝑎𝑡𝑖𝑣𝑒 𝑠𝑜𝑙𝑢𝑡𝑖𝑜𝑛:
𝑎𝑙𝑡𝑒𝑟𝑛𝑎𝑡𝑖𝑣𝑒 𝑠𝑜𝑙𝑢𝑡𝑖𝑜𝑛: [𝑴𝑶 = 𝑭𝒅]

𝑴𝑶 = 5 sin 75° 𝑘𝑁 (3 𝑚)
[𝑴𝑶 = 𝑭𝒅]
𝑴𝑶 = 5 sin 45° 𝑘𝑁 (3 cos 30° + 3 sin 30°) 𝑴𝑶 = 14.489 𝑘𝑁 ∙ 𝑚 ↻
𝑴𝑶 = 14.489 𝑘𝑁 ∙ 𝑚 ↻
Sample Problems:
6. In the previous problem, determine the smallest force applied at the tip which creates the same moment
about O.
Solution:
𝑑(𝐹) 14.489 𝑑 1
𝜃 𝜃 =
𝑑𝜃 3 𝑑𝜃 sin 𝜃
𝑑𝐹 14.489 sin 𝜃 0 − 1(cos 𝜃 )
=
𝐹 𝑑𝜃 3 (sin 𝜃 )2
14.489 0 − (cos 𝜃 )
0=
3 (sin 𝜃 )2
𝑑 = 3 sin 𝜃 0 = cos 𝜃
[𝑴𝑶 = 𝑭𝒅] 𝜃 = 90°
14.489 = 𝐹(3 sin 𝜃 ) 14.489 = 𝐹(3 sin 90°)
14.489 𝐹 = 4.83 𝑘𝑁 ↘
𝐹=
3 sin 𝜃
Multiplication of Vectors
Scalar Product or Dot Product 𝑨 = 𝐴𝑥 𝒊 + 𝐴𝑦 𝒋 + 𝐴 𝑧 𝒌 𝑩 = 𝐵𝑥 𝒊 + 𝐵𝑦 𝒋 + 𝐵𝑧 𝒌
𝑨 ∙ 𝑩 = 𝐴𝑥 𝐵𝑥 + 𝐴𝑦 𝐵𝑦 + 𝐴𝑧 𝐵𝑧
𝑪
𝑨 𝒙 𝑩 = 𝐵(𝐴 sin 𝜃)
𝑨 𝒙 𝑩 = 𝑎𝑟𝑒𝑎 𝑜𝑓 𝑝𝑎𝑟𝑎𝑙𝑙𝑒𝑙𝑜𝑔𝑟𝑎𝑚 𝑤𝑖𝑡ℎ 𝑠𝑖𝑑𝑒𝑠 𝐴 𝑎𝑛𝑑 𝐵
𝑩
𝑪 ∙ 𝑨 𝒙 𝑩 = 𝑪 ∙ 𝑴 = 𝐶𝑀 cos 𝜃
𝜃 𝑪 ∙ 𝑨 𝒙 𝑩 = 𝑣𝑜𝑙𝑢𝑚𝑒 𝑜𝑓 𝑝𝑎𝑟𝑎𝑙𝑙𝑒𝑙𝑒𝑝𝑖𝑝𝑒𝑑 𝑤𝑖𝑡ℎ 𝑠𝑖𝑑𝑒𝑠 𝐴, 𝐵 𝑎𝑛𝑑 𝐶
𝑚𝑖𝑥𝑒𝑑 𝑜𝑟 𝑠𝑐𝑎𝑙𝑎𝑟 𝑡𝑟𝑖𝑝𝑙𝑒 𝑝𝑟𝑜𝑑𝑢𝑐𝑡 𝑜𝑓 𝑡ℎ𝑟𝑒𝑒 𝑣𝑒𝑐𝑡𝑜𝑟𝑠
𝑨
𝑪 ∙ 𝑨 𝒙 𝑩 = [𝐶𝑥 𝒊 + 𝐶𝑦 𝒋 + 𝐶𝑧 𝒌] ∙ [ 𝐴𝑦 𝐵𝑧 − 𝐴𝑧 𝐵𝑦 𝒊 + 𝐴𝑧 𝐵𝑥 − 𝐴𝑥 𝐵𝑧 𝒋 + 𝐴𝑥 𝐵𝑦 − 𝐴𝑦 𝐵𝑥 𝒌]
𝑨 ∙ 𝑩 = 𝐴𝐵 cos 𝜃 𝐶𝑥 𝐶𝑦 𝐶𝑧
𝑩∙𝑨=𝑨∙𝑩 𝑐𝑜𝑚𝑚𝑢𝑡𝑎𝑡𝑖𝑣𝑒
𝑪 ∙ 𝑨 𝒙 𝑩 = 𝐴𝑥 𝐴 𝑦 𝐴𝑧
𝑨 ∙ 𝑩 ∙ 𝑫 ≠ 𝑨 ∙ (𝑩 ∙ 𝑫) 𝑛𝑜𝑡 𝑎𝑠𝑠𝑜𝑐𝑖𝑎𝑡𝑖𝑣𝑒 𝐵𝑥 𝐵𝑦 𝐵𝑧
𝑨 ∙ 𝑩 + 𝑫 = 𝑨 ∙ 𝑩 + 𝑨 ∙ 𝑫 𝑑𝑖𝑠𝑡𝑟𝑖𝑏𝑢𝑡𝑖𝑣𝑒
Projection of Force and Moment- Vector Analysis
𝑭∙𝝀
𝑦 cos 𝜃 =
𝐹𝜆
𝑭 𝑭 = 𝐹𝑥 𝒊 + 𝐹𝑦 𝒋 + 𝐹𝑧 𝒌
[𝑨 ∙ 𝑩 = 𝐴𝑥 𝐵𝑥 + 𝐴𝑦 𝐵𝑦 + 𝐴𝑧 𝐵𝑧 ]
𝝀 = 𝜆𝑥 𝒊 + 𝜆𝑦 𝒋 + 𝜆𝑧 𝒌
𝒓 = 𝑟𝑥 𝒊 + 𝑟𝑦 𝒋 + 𝑟𝑧 𝒌 𝐹𝑥 𝜆𝑥 + 𝐹𝑦 𝜆𝑦 + 𝐹𝑧 𝜆𝑧
𝒓 𝜃 cos 𝜃 =
𝑂 𝐹𝜆
𝐹𝜆 = 𝐹 cos 𝜃 𝑑𝑥 𝒊 + 𝑑𝑦 𝒋 + 𝑑𝑧 𝒌
𝑥 𝜆=
𝑀𝑂𝜆 [𝑨 ∙ 𝑩 = 𝐴𝐵 cos 𝜃] 𝑑
𝑧 𝝀
𝑭 ∙ 𝝀 = 𝐹𝜆 cos 𝜃 𝒊 𝒋 𝒌
𝑀𝑂 𝑭∙𝝀 𝒓 𝒙 𝑭 = 𝑟𝑥 𝑟𝑦 𝑟𝑧
𝑭𝝀 𝑎 𝐹𝜆 =
𝜆 𝐹𝑥 𝐹𝑦 𝐹𝑧
[𝑨 ∙ 𝑩 = 𝐴𝐵 cos 𝜃]
𝑀𝑂𝜆 = (𝒓 𝒙 𝑭) ∙ 𝝀 = [ 𝑟𝑦 𝐹𝑧 − 𝑟𝑧 𝐹𝑦 𝒊 + 𝑟𝑧 𝐹𝑥 − 𝑟𝑥 𝐹𝑧 𝒋 + 𝑟𝑥 𝐹𝑦 − 𝑟𝑦 𝐹𝑥 𝒌] ∙ 𝜆𝑥 𝒊 + 𝜆𝑦 𝒋 + 𝜆𝑧 𝒌
𝜆𝑥 𝜆𝑦 𝜆𝑧
(𝒓 𝒙 𝑭) ∙ 𝝀 = 𝝀 ∙ (𝒓 𝒙 𝑭) = 𝑟𝑥 𝑟𝑦 𝑟𝑧
𝐹𝑥 𝐹𝑦 𝐹𝑧
Sample Problems:
7. Determine the magnitudes of the projection of the force F in the figure onto the u and v axes.
Solution:
𝐹𝑢
cos 45° = 𝐹𝑢 = 70.71 𝑁
𝐹
𝐹𝑣
cos 15° = 𝐹𝑢 = 96.59 𝑁
𝐹
NOTE: projections are components if and only if their line of actions are
perpendicular with each other.
Sample Problems:
8. The frame shown in the figure is subjected to a horizontal force F = {300j} N. Determine the magnitudes of
the components of this force parallel and perpendicular to member AB.
Solution:
𝑑𝑥 𝒊 + 𝑑𝑦 𝒋 + 𝑑𝑧 𝒌 (2 − 0)𝒊 + (6 − 0)𝒋 + (3 − 0)𝒌
𝜆= 𝜆=
𝑑 (2 − 0)2 +(6 − 0)2 +(3 − 0)2
𝑭𝝀 2 6 3
𝜆 = 𝒊+ 𝒋+ 𝒌
7 7 7
𝝀
2 6 3
𝑭⊥ 𝑭∙𝝀= 0 + 300 +0 𝐹𝜆 = 257.14 𝑁
7 7 7
2 2 2
𝑭 = 𝑭𝝀 + 𝑭 ⊥ 𝑅= 𝑅𝑥 + 𝑅𝑦 + 𝑅𝑧
(0)2 +(300)2 +(0)2 = (257.14)2 +(𝐹⊥ )2 𝐹⊥ = 154.52 𝑁

𝑭∙𝝀 2 6 3
𝐹𝜆 = 0𝒊 + 300𝒋 + 0𝒌 = 257.14 𝒊 + 𝒋 + 𝒌 + 𝐹⊥
𝜆 7 7 7
[𝑨 ∙ 𝑩 = 𝐴𝑥 𝐵𝑥 + 𝐴𝑦 𝐵𝑦 + 𝐴𝑧 𝐵𝑧 ] 𝐹⊥ = −73.47𝒊 + 79.59𝒋 − 110.20𝒌 𝐹⊥ = 154.52 𝑁
Sample Problems:
9. Consider the volleyball net shown. Determine the angle formed by guy wires AB and AC, and AC and AD.
Solution:
𝒓𝑨𝑩 = [−6.5 − 0]𝒊 + [0 − 8]𝒋 + [2 − 0]𝒌 𝑓𝑡

𝑟𝐴𝐵 = (−6.5 − 0)2 +(0 − 8)2 +(2 − 0)2 = 10.5 𝑓𝑡
𝒓𝑨𝑪 = [0 − 0]𝒊 + [0 − 8]𝒋 + [6 − 0]𝒌 𝑓𝑡
𝑟𝐴𝐶 = (0 − 0)2 +(0 − 8)2 +(6 − 0)2 = 10 𝑓𝑡
[𝑨 ∙ 𝑩 = 𝐴𝐵 cos 𝜃]
−6.5 0 − 8 −8 + 2 6 = 10.5(10) cos 𝜃
𝜃 = 43.63°
𝒓𝑨𝑫 = [4 − 0]𝒊 + [0 − 8]𝒋 + [1 − 0]𝒌 𝑓𝑡
𝑟𝐴𝐷 = (4 − 0)2 +(0 − 8)2 +(1 − 0)2 = 9 𝑓𝑡
4 0 − 8 −8 + 1 6 = 9(10) cos 𝜃
𝜃 = 38.94°
Sample Problems:
10. To lift a heavy crate, a man uses a block and tackle attached to the bottom of an I-beam at hook B . Knowing
that the moments about the y and the z axes of the force exerted at B by portion AB of the rope are, respectively,
120 N-m and –460 N-m, determine the distance a. Find also the force’s perpendicular distance to z axis.
Solution:
𝜆𝑥 𝜆𝑦 𝜆𝑧 0 1 0
𝝀 ∙ 𝒓 𝒙 𝑭 = 𝑟𝑥 𝑟𝑦 𝑟𝑧 𝒋 ∙ 𝒓𝑶𝑨 𝒙 𝑭𝑩𝑨 = 2.2 1.6 0
𝐹𝑥 𝐹𝑦 𝐹𝑧 𝐹𝑥 𝐹𝑦 𝐹𝑧
0 0 1 0 − 1 2.2𝐹𝑧 − 0𝐹𝑥 = 120

−𝑎
𝑭𝑩𝑨 𝒌 ∙ 𝒓𝑶𝑨 𝒙 𝑭𝑩𝑨 = 2.2 1.6 0 −2.2𝐹𝐵𝐴 = 120
𝐹𝑥 𝐹𝑦 𝐹𝑧 𝑑
𝒋 𝑑
0 − 0 + 1 2.2𝐹𝑦 − 1.6𝐹𝑥 = −460 𝐹𝐵𝐴 = 120
𝑑 2.2𝑎
𝒓𝑶𝑨 −3.2 2.2
2.2𝐹𝐵𝐴 − 1.6𝐹𝐵𝐴 = −460 𝑎 = 1.252 𝑚
𝒌 𝑑 𝑑
(2.2)2 +(−3.2)2 +(−𝑎)2 [𝑴𝑶 = 𝑭𝒅] 𝑑 = 2.59 𝑚

𝒓𝑶𝑨 = 2.2𝒊 + 1.6𝒋 + 0𝒌 𝐹𝐵𝐴 = 120 = 177.74 𝑁
2.2𝑎 460 = 𝐹𝐵𝐴 (𝑑)
Couple
-are two equal, parallel but oppositely directed forces that tends to have a zero resultant but have a constant
moment effect on any point on its plane and any parallel plane. The perpendicular distance between the two
parallel forces is called the moment arm of the couple and their resulting moment is called couple moment
(which is a free vector).
𝑴 =𝒅𝒙 −𝑭+ 𝒅+𝒅 𝒙𝑭
𝑦 [𝑴𝑶 = 𝒓 𝒙 𝑭] 𝑴𝑶 = 𝒅 𝒙 𝑭
𝑴𝑶 = 𝒅 𝒙 𝑭 −𝑭𝑶 1. The moment effect of a couple is unchanged if the couple is
𝒅 shifted to any other position in its plane
−𝑭 2. The moment effect of a couple is unchanged if the couple is
𝑸 𝑭
rotated through any angle in its plane
−𝑭 𝑂 𝒅 𝒂 𝑭 3. The moment effect of a couple is unchanged if the couple is
𝒓𝑩 𝒓𝑨 𝑥 shifted to a parallel plane
𝒅 𝑸 ∴𝑪=𝒅𝒙𝑭 𝑁𝑜𝑡𝑒: 𝑚𝑜𝑚𝑒𝑛𝑡𝑠 𝑎𝑟𝑒 𝑣𝑒𝑐𝑡𝑜𝑟𝑠,

𝑭
∴ 𝑡ℎ𝑒𝑦 𝑓𝑜𝑙𝑙𝑜𝑤 𝑣𝑒𝑐𝑡𝑜𝑟 𝑜𝑝𝑒𝑟𝑎𝑡𝑖𝑜𝑛𝑠
𝑧 [𝑴𝑶 = 𝒓 𝒙 𝑭] 𝑴𝑶 = 𝒂 𝒙 𝑸 = 𝒅 𝒙 𝑭
𝑴𝑶 = 𝒓𝑩 𝒙 − 𝑭 + [𝒓𝑨 𝒙 𝑭] 𝐸𝑞𝑢𝑖𝑣𝑎𝑙𝑒𝑛𝑡 𝐶𝑜𝑢𝑝𝑙𝑒𝑠 − ℎ𝑎𝑣𝑒 𝑡ℎ𝑒 𝑠𝑎𝑚𝑒 𝑚𝑎𝑔𝑛𝑖𝑡𝑢𝑑𝑒 𝑎𝑛𝑑 𝑑𝑖𝑟𝑒𝑐𝑡𝑖𝑜𝑛 𝑜𝑓 𝑚𝑜𝑚𝑒𝑛𝑡
𝑴𝑶 = 𝒓𝑨 − 𝒓𝑩 𝒙 𝑭 any pair of a and Q that have the same couple moment
𝑴𝑶 = 𝒅 𝒙 𝑭
Sample Problems:
11. A couple M of magnitude 18 N-m is applied to the handle of a screwdriver to tighten a screw into a block of
wood. Determine the magnitudes of the two smallest horizontal forces that are equivalent to M if they are
applied (a ) at corners A and D , (b ) at corners B and C , (c ) anywhere on the block.
Solution:
[𝑪 = 𝒅 𝒙 𝑭]
𝑨 18 = 0.14 + 0.10 𝐴
𝐴 = 75 𝑁
𝑨 18 = (0.14 + 0.10)2 +[ 0.16 + 0.16 − 0.24]2 𝐵

𝑪
𝐵 = 71.15 𝑁
𝑪
𝑩 18 = (0.14 + 0.10)2 + 0.16 + 0.16 2 𝐶
𝑩 𝐶 = 45 𝑁
Sample Problems:
12. If the resultant couple moment of the three couples acting on the triangular block is to be zero, determine
the magnitude of forces F and P.
Solution:
𝑅𝑦 =+→ ෍ 𝐹𝑦 = 0
300
𝐶 = 150 0.5 = 75 𝑁 ∙ 𝑚 75 − 𝐹(0.6) = 0
𝑪𝑭 500
𝐹 = 75 𝑁
𝜃
𝑅𝑧 =+↑ ෍ 𝐹𝑧 = 0
𝑪𝑷
400
75 − 𝑃 0.6 = 0
500
𝐹 = 100 𝑁
Sample Problems:
13. Determine the resultant couple moment of the two couples that act on the assembly. Specify its magnitude
and coordinate direction angles.
Solution:
[𝑪 = 𝒅 𝒙 𝑭]
𝑪𝑹 = 4 cos 30° 𝒊 + 0𝒋 − 4 sin 30° 𝒌 𝒙 80𝒋
+ 4 cos 30° 𝒊 + 2 + 3 𝒋 − 4 sin 30° 𝒌 𝒙 60𝒌
𝑪𝑹 = 160𝒊 + 0𝒋 + 277.128𝒌 + 300𝒊 − 207.846𝒋 + 0𝒌
𝑪𝑹 = 460𝒊 − 207.846𝒋 + 277.128𝒌 𝑙𝑏 ∙ 𝑖𝑛
2 2 2
𝒓𝟖𝟎 𝑅= 𝑅𝑥 + 𝑅𝑦 + 𝑅𝑧
𝒓𝟔𝟎
𝑪𝑹 = 575.847 𝑙𝑏 ∙ 𝑖𝑛
[𝐹𝑥 = 𝐹 cos 𝜃𝑥 ] [𝐹𝑦 = 𝐹 cos 𝜃𝑦 ] [𝐹𝑧 = 𝐹 cos 𝜃𝑧 ]
𝜃𝑥 = 36.98° 𝜃𝑦 = 111.16° 𝜃𝑧 = 61.23°
𝒓𝟖𝟎 = 4 cos 30° 𝒊 + 0𝒋 − 4 sin 30° 𝒌
𝒓𝟔𝟎 = 4 cos 30° 𝒊 + (2 + 3)𝒋 − 4 sin 30° 𝒌
Resolution of a System of Forces to a Single Force or Force-Couple System
-a force system may be represented by a single force by utilizing the concept of vector addition (to find the
resultant force and its direction) and the concept of Varignon’s theorem (to find the exact location of the line of
action of the resultant). 𝑦 𝑷 𝑦 𝑦
𝑹
𝒓 𝒙 𝑹 = 𝑴𝑹 = ෍ 𝑴 𝑹
Equivalent/ Equipollent Systems- = 𝑹
𝑭 𝑸 𝒓 =
systems that have the same 𝑥 𝑴𝑹 𝑥 𝑥
resultant force and resultant = 𝑴𝑹
𝑭+𝑸+𝑷 =𝑹 = 𝑹 𝑹 𝑹
moment at a certain point
𝑦 𝑴𝑭 + 𝑴𝑸 + 𝑴𝑷 = 𝑴𝑹 = 𝒓𝒙𝑹 = 𝑴𝑹
𝑦 𝑴∥ 𝑝𝑖𝑡𝑐ℎ = 𝑀 /𝑅
∥
𝑠𝑝𝑒𝑐𝑖𝑎𝑙 𝑐𝑎𝑠𝑒: 𝒓 𝒙 𝑹 ≠ 𝑴𝑹 ,
𝑷 𝑤𝑟𝑒𝑛𝑐ℎ
𝑹 𝑒𝑖𝑡ℎ𝑒𝑟 𝑏𝑒𝑐𝑎𝑢𝑠𝑒 𝑹 = 0 𝑹
𝑂 𝑐𝑜𝑢𝑝𝑙𝑒 𝑠𝑦𝑠𝑡𝑒𝑚 , 𝑴𝑹
𝑥 𝑜𝑟 𝒓 = 0 (𝑙𝑖𝑛𝑒 𝑜𝑓 𝑎𝑐𝑡𝑖𝑜𝑛 𝑹 𝑂
𝑭 𝑸 𝒓 𝑹
𝑜𝑓 𝑹 𝑐𝑜𝑖𝑛𝑐𝑖𝑑𝑒𝑠 𝑤𝑖𝑡ℎ 𝒓 𝑥
𝑐𝑒𝑛𝑡𝑒𝑟 𝑜𝑓 𝑚𝑜𝑚𝑒𝑛𝑡𝑠) 𝑴∥ 𝒓 𝒙 𝑹 = 𝑴⊥
𝑧 𝑹 𝑴𝑹 𝑧 𝑴⊥
Sample Problems:
14. The resultant moment about O of the force system shown in the figure is a counter-clockwise moment of 35
N-m. Determine: the direction of the 7.20-N force, in degrees (positive counter-clockwise from the x-axis), the
y-component of the resultant force and the direction of the 7.20-N force such that the moment about O will be
zero, in degrees (positive counter-clockwise from the x-axis).
Solution:
RECALL:
RV R
θ RH
7.2sinθ
𝒓 𝒙 𝑹 =↻ +𝑴𝑹 = ෍ 𝑴
θ
6 7.2cosθ
3
10
R 𝒓 𝒙 𝑹 =↻ +𝑴𝑹 = ෍ 𝑴 351.5°
x
8.50°
y 7.2 N
Sample Problems:
15. The 16-ft wing of an airplane is subjected to a lift which varies from zero at the tip to 360 lb/ft at the
fuselage according to w = 90x1/2 lb/ft where x is measured from the tip. Compute the location of the resultant
from the wing tip.
Solution:
𝑹
RECALL:
9.6′ Varignon’s theorem
states that the moment of a force about a point is
16’
equal to the sum of the moments of the
x
components of the force about the point
x
w
w
w = 90x1/2 lb/ft dx 360 lb/ft
𝒓 𝒙 𝑹 = 𝑴𝑹 = ෍ 𝑴
Sample Problems:
16. The forces and couples shown are applied to two screws as a piece of sheet metal is fastened to a block of
wood. Reduce the forces and the couples to an equivalent wrench and determine (a ) the resultant force R , (b )
the pitch of the wrench, (c ) the point where the axis of the wrench intersects the xz plane.
Solution:
𝑹 = −20𝒊 − 15𝒋 𝑁
𝑴𝑹 = −4𝒊 − 1𝒋 + −20𝒊 𝒙 0.1𝒌 𝑁 ∙ 𝑚

4𝑁∙𝑚 𝑴𝑹 = −4𝒊 − 1𝒋 − 2𝒋 𝑁 ∙ 𝑚
15 𝑁 𝑹
𝑴𝑹 20 𝑁 𝑴𝑹 = −4𝒊 − 3𝒋 𝑁 ∙ 𝑚
𝑝𝑖𝑡𝑐ℎ = 𝑀∥ /𝑅
3𝑁∙𝑚 (−4)2 +(−3)2 𝒓 𝒙 𝑹 = 𝑴𝑹 = ෍ 𝑴
𝑝𝑖𝑡𝑐ℎ = = 0.2 𝑚
(−20)2 +(−15)2
𝒓 𝒙 −20𝒊 − 15𝒋 = −4𝒊 − 3𝒋
𝑎𝑡 𝑝𝑜𝑖𝑛𝑡 𝑂 𝑠𝑝𝑒𝑐𝑖𝑎𝑙 𝑐𝑎𝑠𝑒: 𝒓 𝒙 𝑹 ≠ 𝑴𝑹 , 𝑒𝑖𝑡ℎ𝑒𝑟 𝑏𝑒𝑐𝑎𝑢𝑠𝑒 𝑹 = 0, 𝑜𝑟 𝒓 = 0
(𝑙𝑖𝑛𝑒 𝑜𝑓 𝑎𝑐𝑡𝑖𝑜𝑛 𝑜𝑓 𝑹 𝑐𝑜𝑖𝑛𝑐𝑖𝑑𝑒𝑠 𝑤𝑖𝑡ℎ 𝑐𝑒𝑛𝑡𝑒𝑟 𝑜𝑓 𝑚𝑜𝑚𝑒𝑛𝑡𝑠)

3 Moment of Force Systems

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3 Moment of Force Systems

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Technological Institute of the Philippines Prepared by: Engr. Adams Royce A.

Statics of Rigid Bodies

↻ +𝑀𝑂 = −𝐹𝑑 ↻ +𝑀𝑂 = −𝐹(𝑑 sin 𝜃) ↻ +𝑀𝑂 = −𝐹 0 = 0

Adjoint Matrix- (𝑐𝑜𝑓𝑎𝑐𝑡𝑜𝑟 𝑚𝑎𝑡𝑟𝑖𝑥)𝑇

1. Cofactor Expansion Method 1 2 1 0

↺ +𝑀𝑂 = 60 𝑙𝑏 1 sin 45° 𝑓𝑡

↺ +𝑀𝑅𝑂 = − 50 𝑁 2 𝑚 + 60 𝑁 0 − 40 𝑁 2 + 2 + 3 cos 30° 𝑚 + 20 𝑁 3 sin 30° 𝑚

𝑎𝑙𝑡𝑒𝑟𝑛𝑎𝑡𝑖𝑣𝑒 𝑠𝑜𝑙𝑢𝑡𝑖𝑜𝑛: [𝑴𝑶 = 𝑭𝒅]

(0)2 +(300)2 +(0)2 = (257.14)2 +(𝐹⊥ )2 𝐹⊥ = 154.52 𝑁

𝒓𝑨𝑩 = [−6.5 − 0]𝒊 + [0 − 8]𝒋 + [2 − 0]𝒌 𝑓𝑡

0 0 1 0 − 1 2.2𝐹𝑧 − 0𝐹𝑥 = 120

(2.2)2 +(−3.2)2 +(−𝑎)2 [𝑴𝑶 = 𝑭𝒅] 𝑑 = 2.59 𝑚

𝒅 𝑸 ∴𝑪=𝒅𝒙𝑭 𝑁𝑜𝑡𝑒: 𝑚𝑜𝑚𝑒𝑛𝑡𝑠 𝑎𝑟𝑒 𝑣𝑒𝑐𝑡𝑜𝑟𝑠,

𝑨 18 = (0.14 + 0.10)2 +[ 0.16 + 0.16 − 0.24]2 𝐵

𝑴𝑹 = −4𝒊 − 1𝒋 + −20𝒊 𝒙 0.1𝒌 𝑁 ∙ 𝑚

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