EML 3004C

Chapter 3: Force System Resultants

Namas Chandra Hibbeler

Introduction to Mechanical engineering Chapter 3-1
 EML 3004C

Cross Product


The Cross product of two
vectors A and B
C  A B


Magnitude:

C=AB sin

Direction:
C is perpendicular to


both A and B

Namas Chandra Hibbeler

Introduction to Mechanical engineering Chapter 3-2
 EML 3004C

Laws of Operation for Cross Product

Commutative law is not valid

A B  B  A
In fact
A  B  B  A
Scalar Multiplication
  A  B    A   B  A   B    A  B 

Distributive Law

A B  D  A  B  A  D

Namas Chandra Hibbeler

Introduction to Mechanical engineering Chapter 3-3
 EML 3004C

Cartesian Vector Formulation (sec 3.1)

Using general definition,

iˆ  ˆj
Magnitude: (i )( j )(sin  )
Direction: R.H. Rule  kˆ
iˆ  ˆj  kˆ

i  j  k i  k   j i i  0
j  k  i j  i  k j  j  0
k  i  j k  j  i k  k  0

Namas Chandra Hibbeler

Introduction to Mechanical engineering Chapter 3-4
 EML 3004C

Cross Product of Two Vectors (sec 3.1)

Let A  Axi  Ay j  Az k
B  Bxi  By j  Bz k

i j k
A  B  Ax Ay Az
Bx By Bz
 i ( Ay Bz - Az By )
- j ( Ax Bz - Az Bx )
 k ( Ax B y - Ay Bx )

Namas Chandra Hibbeler

Introduction to Mechanical engineering Chapter 3-5
 EML 3004C

Moment Systems (sec 3.2)

The moment of a force about an axis

(sometimes represented as a point in a
body) is the measure of the force’s
tendency to rotate the body about the axis
(or point).

The magnitude of the moment is:

M o  Fd
Direction  R.H. Rule

Namas Chandra Hibbeler

Introduction to Mechanical engineering Chapter 3-6
 EML 3004C

Moment Systems of System of Forces (sec 3.2)

Consider a system of Forces F1, F2 and F3

They are at d1, d 2 and d3 from point 0.
CCW  M R0   Fd

It is customary to assume CCW

as the positive direction.

Resultant Moment of four Forces:

M Ro  50 N (2m)  60 N (0)  20 N (3sin 30 m)
 40 N (4m  3cos 30m)
 334 Nm =334 Nm(CW)

Namas Chandra Hibbeler

Introduction to Mechanical engineering Chapter 3-7
 EML 3004C

Moment of a Force-Vector Formulation (sec 3.3)

The moment of a Force F about a point O,

M0  r  F
r is the position vector of F between O
and any point on the line of action of F

Note :
r sin   d for any d,
Namas Chandra Hibbeler
Introduction to Mechanical engineering Chapter 3-8
 EML 3004C

Moment of a Force-Vector Formulation (sec 3.3)

Let F  Fx i  Fy j  Fz k
and r  rx i  ry j  rz k
Then,
i j k
M o  r  F  rx ry rz
Fx Fy Fz

The axis of the moment is

perpendicular to the plane that
contains both F and r
The axis passes through point O
Namas Chandra Hibbeler
Introduction to Mechanical engineering Chapter 3-9
 EML 3004C

Moment of Force Systems-Vector Formulation (sec 3.3)

Let a system of forces act upon a

body. We like to compute the net
moment of all the forces about the
point O.
Net moment is the sum of moment
of each force F with separate r
M Ro   r  F

The moment M Ro will have three

components in x, y and z
M Ro  M x i  M y j  M z k

Namas Chandra Hibbeler

Introduction to Mechanical engineering Chapter 3-10
 EML 3004C

Problem 3-10 (page 84, Section 3.1-3.3)

3.10 Determine the resultant moment about point B on the

three forces acting on the beam.

Solution:

CCW  M RB   M B ;
4 3
M RB  375 (11)  (500) (5)  (500) (0)
5 5
 160 cos 30(0)  160 sin 30(0.5)
M RB  6165 lb  ft  6.16 kip  ft CCW
Namas Chandra Hibbeler
Introduction to Mechanical engineering Chapter 3-11
 EML 3004C

Problem 3-20 (page 86, Section 3.1-3.3)

3.20 The cable exerts a 140-N force on the telephone pole as

shown. Determine the moment of this force at the base A of
the pole. Solve the problem two ways, i.e., by using a
position vector from A to C, then A to B.
Solution:
Position Vector:
rAB  6k m rAC  2i -3j m
Force Vector:
 (2-0) i  (-3-0) j  (0-6) k 
F  140  
 (2  0) 2  (3  0) 2  (0-6) 2
 
 40i - 60 j -120k N

Namas Chandra Hibbeler

Introduction to Mechanical engineering Chapter 3-12
 EML 3004C

3.20 The cable exerts a 140-N force on the telephone pole as

shown. Determine the moment of this force at the base A of
the pole. Solve the problem two ways, i.e., by using a
position vector from A to C, then A to B.

Solution-Con’t
Moment about point A :
MA  r  F
Use r  rAB
i j k
 0 0 6
40 -60 -120
 0 (-120) - (-60)(6)  i - 0(-120)-40(6)  j  0(-60)-40(0)  k
 360i  240j N  m
Namas Chandra Hibbeler
Introduction to Mechanical engineering Chapter 3-13
 EML 3004C

3.20 The cable exerts a 140-N force on the telephone pole as

shown. Determine the moment of this force at the base A of
the pole. Solve the problem two ways, i.e., by using a
position vector from A to C, then A to B.

Solution-Con’t

Use r  rAC
i j k
MA  2 -3 0
40 -60 -120
 (3) (-120) - (-60)(0) i - 2(-120)-40(0)  j  2(-60)-40(-3)  k
 360i  240j N  m

Namas Chandra Hibbeler

Introduction to Mechanical engineering Chapter 3-14
 EML 3004C

Section 3.1-3.3 (In-class Exercise)

If the man B exerts a force P=30 lbs on his rope,
determine the magnitude of F the man at C must exert
to prevent pole from tipping.

Solution:
Net moment should be zero

Assume CCW +ve.

30(cos 45)(18)  F ( 54 )(12)
 F  39.8lb

Namas Chandra Hibbeler

Introduction to Mechanical engineering Chapter 3-15
 EML 3004C

Section 3.1-3.3 (In-class Challenge Exercise)

The foot segment is subjected to the pull of the two
plantar flexor muscle. Determine the moment of
each force about the point of contact A on the ground.

Solution:

 M A 1  20 cos 30(4.5)  20sin 30 (4)

 118 lb (cw)

 M A 2  30 cos 30(4.0)  30sin 70 (3.5)

 140 lb (cw)
 M A    M A 1   M A 1
 258 lb (cw)
Namas Chandra Hibbeler
Introduction to Mechanical engineering Chapter 3-16
 EML 3004C

3.4 Principle of Moments (sec 3.4)

The moment of a force is equal to the sum of the moment of the

force’s component about a point. (Varginon’s theorem 1654-1722)

M 0  r  F  r   F1  F2   r  F1  r  F2

Cable exerts F on pole with moment M A .

F can be slided by the principle of transmissibility
Note M A  Fx h  Fy b  F d
Namas Chandra Hibbeler
Introduction to Mechanical engineering Chapter 3-17
 EML 3004C

3.5 Moment of a Force about a specified axis

When the moment of a force F is computed using M 0 =r  F,

the axis is perpendicular to r and F.
If we need the moment about other axis still through O, we
can use either scalar or vector analysis.

Here we have F=20 N applied.

Though the typical equation gives
moment with respect to b-axis, we
require it through y-axis.

Namas Chandra Hibbeler

Introduction to Mechanical engineering Chapter 3-18
 EML 3004C

3.5 Moment of a Force about a specified axis-2

Step 1. Find M about using cross product.

M o  rA  F  (0.3i  0.4 j )  (20k )
 8i  6 j Nm Step 2. Find M about the given axis uˆ A =j.
M y  M o uˆ A  (0.8i  6 j ) j
 6 Nm
Namas Chandra Hibbeler
Introduction to Mechanical engineering Chapter 3-19
 EML 3004C

3.5 Moment of a Force about a specified axis-3

The two steps in the previous analysis can be combined with the
definition of a scalar triple product. Since dot product is
commutative
If M o  r  F and M a  uˆa M o then
M a  uˆa  r  F 
i j k
 
 uax i  ua y j  uaz k  rx ry rz
Fx Fy Fz
ua x ua y ua z
 rx ry rz
Fx Fy Fz

Namas Chandra Hibbeler

Introduction to Mechanical engineering Chapter 3-20
 EML 3004C

3.6 Moment of a Couple-1

A couple is defined as two parallel forces with same magnitude and
opposite direction. Net force is zero, but rotates in specified direction.

Couple moments is the moment of the couple.

Sum of the moment is same about any point.
Moment about O,
M  rA    F   rB  F
  rB  rA   F  r  F
Since r does not depend on O, the moment
is same at any point.
Namas Chandra Hibbeler
Introduction to Mechanical engineering Chapter 3-21
 EML 3004C

3.6 Equivalent Couples -2

Two couples are equivalent if they produce the same
moment. The forces should be in the same or parallel
planes for two couple to be equivalent.
Couple moments are free vectors. They can be added
at any point P in the body.

There are two couples, with moments M 1 and M 2

M R  M1 + M 2
M R   r  F

Namas Chandra Hibbeler

Introduction to Mechanical engineering Chapter 3-22
 EML 3004C

Problem 3-39 (page 95, Section 3.4-3.6)

3.39The bracket is acted upon by a 600-N force at A.

Determine the moment of this force about the y axis.

Solution:
Force Vector:
F  600 (cos 60 i  cos 60 j  cos45k)
 300i  300j  424.26 k N
Position Vector:
r  -0.1 i  0.15 k m

Namas Chandra Hibbeler

Introduction to Mechanical engineering Chapter 3-23
 EML 3004C

3.39The bracket is acted upon by a 600-N force at A.

Determine the moment of this force about the y axis.

Solution-Con’t
Magnitude of the moment along y axis:
M y  ˆj  (r  F)
0 1 0
 -0.1 0 0.15
300 300 424.26
=0-1(-0.1)(424.26)-(300)(0.15)   0
 87.4 N  m
In cartesian vector form:
M y  87.4 j N  m
Namas Chandra Hibbeler
Introduction to Mechanical engineering Chapter 3-24
 EML 3004C

Problem 3-54 (page 103, Section 3.4-3.6)

3.54 Two couples act on the frame. If d = 6 ft, determine the
resultant couple moment. Compute the result by resolving
each force into x and y components and (a) finding the
moment of each couple (Eq. 3-14) and (b) summing the
moments of all the force components about point A
Solution:
(a)
M 1  100cos30(6)
 519.6 lb  ft CW
4
M 2  (150)(4)  480 lb  ft CCW
5
M R  M 1  M 2  519.6-480
 39.6 lb  ft CW
Namas Chandra Hibbeler
Introduction to Mechanical engineering Chapter 3-25
 EML 3004C

3.54 Two couples act on the frame. If d = 6 ft, determine the

resultant couple moment. Compute the result by resolving
each force into x and y components and (a) finding the
moment of each couple (Eq. 3-14) and (b) summing the
moments of all the force components about point A

Solution-Con’t
(b)
CCW  M R   M B ;
4
M R  100cos30(3)  (150)(4)  100cos30(9)
5
M R  39.6 lb  ft
 39.6 lb  ft CW
Namas Chandra Hibbeler
Introduction to Mechanical engineering Chapter 3-26
 EML 3004C

Section 3.4-3.6 (In-class Exercise)

Two couples act on the frame. If d = 4ft, find the resultant

couple moment by (a) direct method, and (b) resolving the x
and y components (take moment about A).

Solution:
a. Find the normal distance for
each case first.
M c  40 cos 30(4)  60  54  (4)
 53.4 lb.ft (CW)

M c  40 cos 30(2)  40 cos 30(6)

60  54  (3)  60  53  (7)  60  54  (7)  60  53  (7)
 53.4 lb.ft (CW)
Namas Chandra Hibbeler
Introduction to Mechanical engineering Chapter 3-27
 EML 3004C

Section 3.4-3.6 (In-class Challenge Exercise)

The meshed gears are subjected to the couple moments shown.
Determine the magnitude of the resultant couple moment and
specify its coordinate direction angles.
Solution:

M 1  50k  N.m
M 2   20 cos 20sin 30 i  20 cos 20 cos 30 j
20sin 20 k N.m
= 9.397i  16.276 j  6.840k N.m
M R  M1  M 2
 9.397i  16.276 j  6.840k  50k  N.m
= 9.397i  16.276 j  56.840k N.m

Namas Chandra Hibbeler

Introduction to Mechanical engineering Chapter 3-28
 EML 3004C

Section 3.4-3.6 (In-class Challenge Exercise-2)

Solution—contd.
2 2
MR   9.379    16.276  + 56.840  N.m
 59.867 N.m=59.9 N.m
  cos 1  59.867
9.379
  99.0 

  cos 1  59.867
16.276
  106.0 

  cos 1  59.867
56.840
  18.3
Namas Chandra Hibbeler
Introduction to Mechanical engineering Chapter 3-29
 EML 3004C

3.7 Movement of a Force on a Rigid Body-1

A single force on a body can cause it to rotate (moment) and translate

(force).

In the first example, the ruler

causes a force F and in addition
a moment M=Fd.

In the example, the ruler

causes a force F and NO
ADDITIONAL
moment.

Namas Chandra Hibbeler

Introduction to Mechanical engineering Chapter 3-30
 EML 3004C

3.7 Movement of a Force on a Rigid Body-2

Extend this idea to a general 3-D case. Now, the force can be moved

Force now causes the force at any point 0 and then a couple.

Namas Chandra Hibbeler

Introduction to Mechanical engineering Chapter 3-31
 EML 3004C

3.8 Resultant of a Force and Couple System-1

 

By applying the same concepts we have

FR   F 
FRx   Fx
FRy   Fy
FRz   F z

M Ro   M 0

Namas Chandra Hibbeler

Introduction to Mechanical engineering Chapter 3-32
 EML 3004C

3.9 Further Reduction on Force/Couples-1

If resultant force FR and moment M Ro is known then it is possible to

M Ro
reduce them to a single force at P. d=
FR

Namas Chandra Hibbeler

Introduction to Mechanical engineering Chapter 3-33
 EML 3004C

3.9 Further Reduction on Force/Couples-2

Concurrent Force Systems

Only equivalent force

Coplanar Force Systems A single force at d from point 0

Namas Chandra Hibbeler

Introduction to Mechanical engineering Chapter 3-34
 EML 3004C

3.9 Further Reduction on Force/Couples-2

Parallel Force Systems

Here we have parallel forces and moments that are perpendicular.

Resultant moment (see b): M Ro   M C   r  F 
A single force FR = F
Namas Chandra Hibbeler
Introduction to Mechanical engineering Chapter 3-35
 EML 3004C

Problem 3-103 (page 124, Section 3.7-3.9)

3.103 The weights of the various components of the truck
shown. Replace this system of forces by an equivalent
resultant force and couple moment acting at point A.
Solution:
Force Summation:
  FR   Fy ;
FR  3500  5500  1750
=10750lb  110.75lb
Moment Summation:
CCW  M RA   M A ;
M RA  3500(20)  5500(6)  1750(2)
=99500lb  ft  99.5 kip  ft
Namas Chandra Hibbeler
Introduction to Mechanical engineering Chapter 3-36
 EML 3004C

Problem 3-93 (page 122, Section 3.7-3.9)

3.93 The building slab is subjected to four parallel column
loadings. Determine the equivalent resultant force and specify
its location (x,y) on the slab.
Solution: FR  
Fx ;
FR  30  50  40  20  140kN  140kN 
 M R x   M x ;
-140y  50(3)  30(11)  40(13)
y  7.14m
M R y   M y ;
140x  50(4)  20(10)  40(10)
x  5.71m
Namas Chandra Hibbeler
Introduction to Mechanical engineering Chapter 3-37
 EML 3004C

Problem 3-69 (page 119, Section 3.7-3.9)

3.69 The gear is subjected to the two forces shown. Replace

these forces by an equivalent resultant force and couple
moment acting at point O.

Solution:
Force Summation:
 FRx   Fx ;

40
FRx  (2.25)  3sin 60  -0.40295 kN
41
  FRy   Fy ;
9
FRy  (2.25)  3sin 60  -1.0061 kN
41
Namas Chandra Hibbeler
Introduction to Mechanical engineering Chapter 3-38
 EML 3004C

3.69 The gear is subjected to the two forces shown. Replace

these forces by an equivalent resultant force and couple
moment acting at point O.
Solution-Con’t
FR  F 2 Rx  F 2 Ry
 (0.40295) 2  (1.0061) 2  1.08 kN
FRy -1 -1 1.0061
  tan  tan  68.2
FRx 0.40295
Moment Summation:
CCW  M Ro   M o ;
M Ro  3sin 60(0.175cos 200 ) 
40
 3cos 60(0.175sin 200 )+ (2.25)(0.175)
41
 0.901 kN  m CCW
Namas Chandra Hibbeler
Introduction to Mechanical engineering Chapter 3-39
 EML 3004C

Section 3.7-3.9 (In-class Exercise)

Replace the force system by an equivalent force and couple

moment at the point A.

Solution:
FR   F  FR  F1  F2  F3
 300  100  i   400  100  j
  100  50  500  k
 400i  300 j  650k  N

Namas Chandra Hibbeler

Introduction to Mechanical engineering Chapter 3-40
 EML 3004C

Section 3.7-3.9 (In-class Exercise..2)

Solution (contd).

MR  MA
 rAB  F1  rAB  F2  rAB  F3
i j k i j k
 0 0 12  0 0 12 
300 400 100 100 100 50
i j k
0 1 12
0 0 500
 3100i  4800 j N.m
Namas Chandra Hibbeler
Introduction to Mechanical engineering Chapter 3-41
 EML 3004C

Section 3.7-3.9 (In-class Challenge Exercise)

The weights of the various components of the truck are shown.

Replace this system by an equivalent resultant force and
specify its location from point A.

Solution: Equivalent force

  FR   Fy
F y  1750  5500  3500
 10750 lb  10.75 Kips 
Location of force
CCW  M RA   M A
10750(d )  3500(20)  5500(6)  1750( 2)
d  9.26 ft
Namas Chandra Hibbeler
Introduction to Mechanical engineering Chapter 3-42
 EML 3004C

Chapter 3: Force System Resultants…

concludes

Namas Chandra Hibbeler

Introduction to Mechanical engineering Chapter 3-43