Chapter – two

Force Systems
 Lecture Overview

1- Two dimensional force system

- Force Vector addition, parallelogram law
- Decomposition of vectors,
- Moment of a vector
- Force couples
2- Three dimensional force system
- Force Vector addition, parallelogram law
- Decomposition of vectors, force components
- Moment of a vector
- Force couples
• A force is a vector quantity that, when applied to
some rigid body, has a tendency to produce
translation (movement in a straight line) or
translation and rotation of body. When problems
are given, a force may also be referred to as a
load or weight.

• Characteristics of force are the magnitude,

direction(orientation) and point of application
• Force is the action of one body on another
body that changes/tends to change the state of
the bodies.
• It can be applied on a body as
- Contact force (push or pull): applied by direct
mechanical contact the bodies

- Body force(remote action): applied by remote

action as gravitational, electrical, magnetic…
 Force exerted on a body has two effects
• The external effect, which is tendency to change the motion
of the body or to develop resisting forces in the body
• The internal effect, which is the tendency to deform the body.
 Principle of Transmissibility
• The principle of transmissibility states that the condition of
equilibrium or of motion of a rigid body will remain unchanged
if a force F action at a given point of the rigid body is replace
by a force F’ of the same magnitude and the same direction,
but acting at a different point, provided that the two forces have
the same line of action.
• principle of transmissibility: force can be applied on any
point along its line of action without changing its external
effect on a rigid body on which it acts.
Force Vector Addition

1. parallelogram law
2. triangle rule
3. analytic method
Vector Addition – Graphical method
• The parallelogram law – resultant force
- Line of action of R through point of intersection of A and B
Vector Addition – graphical method con…

the triangle rule (from parallelogram law)-for

three forces
Vector Addition – graphical method con…

• The triangle rule (from parallelogram law)

• location of line of action of resultant force R?

Initial situation: Result of addition:

Vector Addition – graphical method con…
• lines of action and point of intersection
Vector Addition – graphical method con…

• result for 2 forces A and B : A + B = RAB

• location of resultant force RAB
Vector Addition – graphical method con…

• location of RAB and C

Vector Addition – graphical method con…

• lines of action
Vector Addition – graphical method con…

• point of intersection
Vector Addition – graphical method con…

• resultant force of the 3 forces A, B and C

Vector Addition – graphical method con…

• location of line of action of resultant force

 Vector Addition – Analytic method
• Trigonometric rules
Force system types:
• Depends on their arrangement in space (orientation
of force)
A. Coplanar force system
 are forces which act on the same plane
 Collinear force: forces acting on the same line
 Coplanar con…
 Parallel force: the forces w/c are on the same
plane and parallel.

 Concurrent force: are forces on the same plane

whose line of action intersect at a point.

 General force:
 B. Non-Coplanar force system
 are forces which act on different plane
 Parallel force: the forces w/c are on the d/t
plane and parallel.
 Concurrent force: are forces on the d/t plane
whose line of action intersect at a point.

 General force:
Force Decomposition and Resolution

1. components along arbitrary axis

a) graphical method

b) analytical method

2. rectangular components
• vector addition by rectangular components
Composition of force:
- is the process of combining two or more forces in to a
single resaltant forces.
Resolution forces:
- is the reverse of composition. It is the process of getting
the components of a vector along different axes.
y
F
Fy
θ
X
Fx
1. Force components along arbitrary axis
A- Graphical method
• vector components along 2 axis of arbitrary
incline

• given: Force F, 2 axis of arbitrary incline a and b

• applying parallelogram law
A - graphical method con…
• vector components along 2 axis of arbitrary
incline
 B – Analytical method
• vector components along 2 axis of arbitrary incline
2. Rectangular Components
• Are the component of the force along the
rectangular coordinate axes.

• Horizontal component of F:
• Vertical component of F:
• Magnitude of F:
Vector addition by rectangular components
 Example 2.1
given: detail of a symmetric cable support
θ = 30°, P = 10 kN
determine: tensile force (horizontal) and shear
force (vertical) exerted to the connection.
Solution:
Solution:
Example 2.2 (from meriam textbook 2/13)
Solution:

• Free body diagram of the forces.

Solution
Moment and couples 2D
1. Moment of a vector
 moment of a force about a point
- scalar product
- cross product
2. Force couples
Moment: is a force tends to rotate the rigid body
about any axis which does not intersect the line of
action of force and which is not parallel to the force.
e.g. moment of a force about a point
Moment of a force
• force acting in a plane

• line of action and support

Moment of a force:
• line of action of reaction force

• hinge support: no equilibrium - rotation!

Moment of a Force:
M = F·d [kNm]
d = moment arm is perpendicular to line of action!

Axis of rotation
Sign convention – right hand rule (+)
• Counter clockwise moment = positive moment
• Clockwise moment = negative moment
Note: one can assign the positive sense to either cw or
ccw moment.
Moment of Force F:
M = F·d [kNm]
d = moment arm
 Moment
1. moment of a force about a point
- scalar product
- cross product
2. force couples
Moment - Cross Product (vector product)
• Moment of a vector V about any point 0
• r is a position vector from reference point 0 to
any point on the line of action of vector V.
Definition of Cross Product (vector product)

• Determination of resulting vector by three by

three matrix with unit vectors i, j and k.
 Principle of Moment (Varignon’s Theorem)
• Which for coplanar forces states “Moment of a force
F about any point equals the sum of the moments of
the components of the force about the same point.”

Proof the principle of moment ?

• Moment of a force F about any point equals the sum of
the moments of the components of the force about the
same point.
example 2.3 (from meriam textbook 2/5)

Calculate the magnitude of the moment about the

base point O in different ways.
Solution:
1) product of force by moment arm
Solution:
2) replace force by rectangular components
Calculate F1 and F2:

By varignon’s theorem, the moment becomes

Calculate the moment at point B and C ?
3) By cross product

Vector expression for a moment

F
Mo = r x F r
Mo = (2i + 4j)x600(icos400- jsin400)
= -2610 kNm
 Example 2
A 100-N vertical force is applied to the end of a lever which is
attached to a shaft at O. Determine (a) the moment of the 100-N
force about O; (b) the horizontal force applied at A which
creates the same moment about O; (c) the smallest force applied
at A which creates the same moment about O; (d) how far from
the shaft a 240-N vertical force must act to create the same
moment about O; (e) whether any one of the forces obtained in
parts b, c, and d is equivalent to the original force
A

24m
100N
600

O
 Moment:
Force couples:
 moment of a couple
• The moment produced by 2 equal and opposite
and non-collinear forces or a two // forces that
have the same magnitude but opposite direction
and are separated by a perpendicular distance d is
known as a couple.
• Moment of couple about any point of reference 0.

• Scalar product: R = F-F

M = F(a + d)-Fa
M = Fd
• Cross product: M = r x F
• Example of equal moment coupes
Eg.5 Determine the resultant couple moment of the
three couples acting on the plate.ANS 950lb.ft cw
Force-couple systems
• Resolution of a force into a force and a couple –
equal external effect.
Equivalent Force-couple systems

• When a number of forces and

couple moments are acting on a
body, it is easier to understand
their overall effect on the body if
they are combined into a single
force and couple moment having
the same external effect.
• The two force and couple systems
are called equivalent systems
since they have the same external
effect on the body.
SIMPLIFICATION OF A FORCE AND COUPLE SYSTEM

• When several forces and couple

moments act on a body, you can move
each force and its associated couple
moment to a common point O.
• Now you can add all the forces and
couple moments together and find one
resultant force-couple moment pair.
 SIMPLIFICATION OF A FORCE AND COUPLE SYSTEM

WR = W1 + W2
(MR)o = W1 d1 + W2 d2

If the force system lies in the x-y plane (a 2-D case), then the reduced equivalent system
can be obtained using the following three scalar equations.
Example 6
Given: A 2-D force system with
geometry as shown.
Find: The equivalent resultant force
and couple moment acting at
A and then the equivalent
single force location
measured from A.
Solution:

1) Sum all the x and y components of the forces to find FRA.

2) Find and sum all the moments resulting from moving each force
component to A.
3) Shift FRA to a distance d such that d = MRA/FRy
 EXAMPLE #6 (continued)

+  FRx = 150 (3/5) + 50 –100 (4/5)

FRFR = 60 lb
+  FRy = 150 (4/5) + 100 (3/5)
= 180 lb
+ MRA = 100 (4/5) 1 – 100 (3/5) 6
– 150(4/5) 3 = – 640 lb·ft

FR = ( 602 + 1802 )1/2 = 190 lb

 = tan-1 ( 180/60) = 71.6 °

The equivalent single force FR can be located at a distance d measured from A.

d = MRA/FRy = 640 / 180 = 3.56 ft.
 Example 7
The jib crane is subjected to three coplanar forces. Replace this
loading by an equivalent resultant force and specify where the
resultant’s line of action intersects the column AB and beam BC.
 Solution
Force Summation
  FRx   Fx ;
 3
FRx   2 .5 kN    1 .75 kN
5
  3 .25 kN  3 .25 kN 
  FRy   F y ;
 4
FRy   2 .5 N    0 .6 kN
5
  2 .60 kN  2 .60 N 
 Solution
For magnitude of resultant force,

FR = ( FRx )2 + ( FRy )2 = (3.25)2 + (2.60)2

=4.16kN

For direction of resultant force,

F 
q= tan −1  Ry = tan −1  2 . 60 
 FRx   3 .25 
= 38 . 7 o
 Solution
Moment Summation
 Summation of moments about point A,

M RA  M A ;
3.25kN( y)  2.60kN(0)
 1.75kn(1m)  0.6kN(0.6m)
 3  4
 2.50kN (2.2m)  2.50kN (1.6m)
 5 5
y  0.458m
 Solution
Moment Summation
 Principle of Transmissibility
M RA  M A ;
3.25kN (2.2m)  2.60kN ( x)
 1.75kn(1m)  0.6kN (0.6m)
3 4
 2.50kN  (2.2m)  2.50kN  (1.6m)
5 5
x  2.177m
 Example 2.4 (from meriam textbook 2/55)
The indicated force – couple system is applied to a small
shaft at the center of rectangular plate. Replace this system by
a single force and specify the coordinate of the point on the
x-axis through which the line of action of this resultant force
passes.
Solution:
 part II
Force Systems 3D
 Lecture Overview

1) - Rectangular Components
- Specifications of a Vector in Space
- Dot product, force components
2) - Moment of a vector
- Force couples
- Resultant systems
Rectangular Components
• Specifications of a Vector in Space
Rectangular Components
• General correlations
Rectangular Components
general correlations

Rectangular component

Unit vector
 a) Specification by 2 points on the line of action:

Given: point A and B, magnitude F

a) Specification by 2 point on the line of action con…

Given: point A and B, magnitude F

b) Specification by 2 angles which orient the line of action:

Given: angle θ and φ, magnitude F

b) Specification by 2 angles which orient the line of action co

Given: angle θ and φ, magnitude F

Example 2.5 (from meriam textbook, s.p. 2/9)
A force F 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 F passes through point A.
a) Determine the x, y and z components of F
b) Determine the projection Fxy of F on the x-y plane
c) Determine the projection FOB of F along the line OB
Steps to solving a problem:

i. Find appropriate coordinate system (at point A & B)

ii. Determine the position vector
iii. Determine the unit vector
iv. Determine the force vector
v. Determine the moment of a force in the 3D
Z A
b
a

O B X
c
y
Dot Product, force components
• Projection of a force (component) in any arbitrary
direction.
Dot Product, force components con…
Dot Product, angle between any 2 vectors

Given: vector P, Q

concerning a unit vector n

 Example 1
• The frame shown in Fig. a and b is subjected to a horizontal
force F = 300j. Determine the magnitude of the components of
this force parallel and perpendicular to the member AB.
SOLUTION
• The magnitude of the component of F along AB is equal to the dot product of F
and the unit vector UB, which defines the direction of AB. Since UB
• Then FAB = F.cosϴ = F.UB = 257.1N
• Since, the result is a positive scalar. FAB has the same sense of direction as UB, Fig.
b.

Expressing FAB in Cartesian vector form. We have

FAB = FABUB = (257.1 N).(0.286i + 0.857j + 0.429k)

The perpendicular component. Fig. b. is therefore,

• FPER = F - FAB = 300j - (73.5i + 220j + 110k)
= {-73.5i + 80j - 110k} N
• This magnitude can be determined either from this vector or by using the
Pythagorean theorem, Fig. b:
FPER = 155N
2) Moment of a vector

• Force couples
• Resultant systems
Recalling: Moment - Cross Product (vector product)
Moment of a vector V about any point 0:
• r is a position vector from reference point o to any
point on the line of action of vector F.
 Moment of a vector 3D
Given: Rigid body, force F and line of action, any point O,
position vector r.
Moment of a vector – rectangular components
 Example (moment about point O )
• The turnbuckle is tightened until the tension in
cable AB is 1.2 kN. Calculate the magnitude of the
moment about point O of the force acting on point A.
Moment about an arbitrary axis:
• Basically, it means rectangular vector components of a moment
(about a pt i.e passed by the line) that acts along the line.
 Example (moment about an axis)
• A cube of side a is acted upon by a force P as shown. Determine the
moment of P ( a ) about A , ( b ) about the edge AB , ( c ) about the
diagonal AG of the cube, ( d ). Using the result of part c , determine the
perpendicular distance between AG and FC.

z
 Solution
• A cube of side a is acted upon by a force P as shown. Determine the
moment of P ( a ) about A , ( b ) about the edge AB , ( c ) about the
diagonal AG of the cube, ( d ). Using the result of part c , determine the
perpendicular distance between AG and FC.

a c d
 Moment – Force couples
Given: force couple at distance d, point O.
Example: (couple forces )
• Determine the magnitude of couple forces F1 and F2 so that
the resultant moment acting acting on the block is zero.
 Equivalent force-couple system
• Replacing a force by an equivalent force-couple
system
Example (from meriam textbook, s.p. 2/10)
A tension T of magnitude of 10 kN is applied to the cable attached
to the top A of the rigid mass and secured to the ground at B.
Determine the moment Mo of T about the z- axis passing through
the base O.
Solution :
Finding z-component of MO
Example (moment about an axis)
The right-angle pipe OAB is shown below. Replace the 750-N
tensile force which the cable exerts on point B by a force–
couple - system at point O.
Resultants system:
 Wrench Resultant
• When the resultant couple vector M is parallel
to the resultant force R, the system is called a
wrench.

example: screw driver

Wrench Resultant con…
A given force system can be represented by a wrench applied
along a unique line of action
Example
• Replace the two forces and the negative wrench by a
single force R applied at A and the corresponding
couple M
Solution.
• The resultant force has the components
R = 928i + 871j + 621k N, R = 1416N
• The resultant moment has the components
M = 49.4i + 90.5j + 24.6k N.m, M = 106N.m
 Example
• A table exerts the four forces shown on the floor sur-
face. Reduce the force system to a force–couple sys-
tem at point O. Show that R is perpendicular to Mo.
 Example
• Determine the wrench resultant of the three forces acting on
the bracket. Calculate the coordinates of the point P in the x-y
plane through which the resultant force of the wrench acts.
Also find the magnitude of the couple M of the wrench.
Solution
• The direction cosines of the couple M of the wrench must be the
same as those of the resultant force R, assuming that the wrench is positive.
The resultant force is
• Resultant of the force = (20i + 40j + 40k) lb
• Magnitude of the resultant force = 60lb
• The resultant force direction cosines are
• Cosϴx = 20/60 = 1/3 Cosϴy = 40/60 = 2/3 Cosϴz = 40/60 = 2/3
• The moment of the wrench couple must equal the sum of the moments of
the given forces about point P through which R passes. The moments about
P of the three forces are
• (M)RX = 20yk lb.in
• (M)Ry = -40(3)i – 40xk lb.in
• (M)RZ = 40(4-y)i – 40(5-x)j lb.in
Solution con…
• And the total moment is
• M = (40 - 40y)i + (-200 + 40x)j + (-40x + 20y)k ib.in

• The direction cosines of M are

• Cosϴx = (40 - 40y)/M
• Cosϴy = (-200 + 40x)/M
Cosϴz = (-40x + 20y)/M
• where M is the magnitude of M. Equating the direction cosines of R and M give

(40 - 40y)/M = 1/3 ………………………………..1

(-200 + 40x)/M = 2/3 ………………………………..2

(-40x + 20y)/M = 2/3 ……………………………….3

From above equation (1,2 & 3) solve the value of x, y & M:

x=
y=
z=
Solution con…
• Solution of the three equations give
• M = -120 lb-in. x = 3 in. y = 2 in Ans.

• we see that M turned out to be negative, which means that the couple
vector is pointing in the direction opposite to R, which makes the wrench
negative.
Thank you!!
EXAMPLE FOR 2D

Replace the loading system by an equivalent resultant

force and couple moments acting at a point A

Solution
1. find force summation and its magnitude
2. find moment summation
EXAMPLE FOR 2D

Replace the two forces acting on the bent pipe by

a single equivalent force R. Specify the distance
y from point A to the line of action of R.
 Quize -1
• Replace the two forces acting on the post by a
resultant force and couple moment at point O.
Express the results in Cartesian vector form .
 Example (moment about an axis)
• A cube of side a is acted upon by a force P as shown. Determine the
moment of P ( a ) about A , ( b ) about the edge AB , ( c ) about the
diagonal AG of the cube, ( d ). Using the result of part c , determine the
perpendicular distance between AG and FC.( given, CG = 200mm, EF =
FG = 240 mm and p = 595N)
y