Module 2: Resultant of Force Systems

CES 2104 Vector Rectangular Components

Module 1: Introduction 𝐹 = 𝐹𝑥 + 𝐹𝑦
Free-Body Diagram (FBD) Vector Scalar Components

𝐹 = 𝐹𝑥 𝑖 + 𝐹𝑦 𝑗

Wherein

𝐹𝑥 = 𝐹 cos 𝜃 𝐹 = √𝐹𝑥2 + 𝐹𝑦2

𝐹𝑦
𝐹𝑦 = 𝐹 sin 𝜃 𝜃 = 𝑡𝑎𝑛−1
𝐹𝑥

Resultant R

𝑅 = 𝐹1 + 𝐹2 = (𝐹1 𝑖 + 𝐹1 𝑗) + (𝐹2 𝑖 + 𝐹2 𝑗)
𝑅𝑥 𝑖 + 𝑅𝑦 𝑗 = (𝐹1𝑥 + 𝐹2𝑥 )𝑖 + (𝐹1𝑦 + 𝐹2𝑦 )𝑗

Or

𝑅𝑥 = 𝐹1𝑥 + 𝐹2𝑥 = Σ𝐹𝑥

𝑅𝑦 = 𝐹1𝑦 + 𝐹2𝑦 = Σ𝐹𝑦

Assignment 2

Assignment 1

F. Singson (2022)
Moment of Force

𝑀 =𝐹∙𝑑 or 𝑀=𝑟𝑥𝐹

Fd are perpendicular to each other while rF are not.

𝐶𝐶𝑊 = +𝑀 𝐶𝑊 = −𝑀
Varignon’s Theorem Proof:

𝑀𝑜 = 𝑟 𝑥 𝑅 = 𝑟 𝑥 (𝑃 + 𝑄) = 𝑟 𝑥 𝑃 + 𝑟 𝑥 𝑄

𝑀𝑜 = 𝑅𝑑 = −𝑝𝑃 + 𝑞𝑄
Assignment 3:

F. Singson (2022)
Couple

𝑀 = 𝐹(𝑎 + 𝑑) − 𝐹𝑎 𝑜𝑟 𝑀 = 𝐹𝑑
Vector Algebra Method

𝑀 = 𝑟𝐴 𝑥 𝐹 + 𝑟𝐵 𝑥 (−𝐹) = (𝑟𝐴 − 𝑟𝐵 ) 𝑥 𝐹
𝑀=𝑟𝑥𝐹
Equivalent Couples

Assignment 4:

Resultants [Summation of Forces]

𝑅 = 𝐹1 + 𝐹2 + 𝐹2 + ⋯ = Σ𝐹

𝑅𝑥 = Σ𝐹𝑥 𝑅𝑦 = Σ𝐹𝑦 𝑅 = √(Σ𝐹𝑥 )2 + (Σ𝐹𝑦 )2

𝑅𝑦 Σ𝐹𝑦
𝜃 = 𝑡𝑎𝑛−1 = 𝑡𝑎𝑛−1
𝑅𝑥 Σ𝐹𝑥
Principle Moments
F. Singson (2022)
 𝑅 = Σ𝐹

𝑀𝑂 = Σ𝑀 = Σ(𝐹𝑑)
𝑅𝑑 = 𝑀𝑂
Assignment 5:

Module 3: Equilibrium of Force Systems

Equilibrium in 2D
∑𝐹 = 0 ∑𝑀 = 0

F. Singson (2022)
Equilibrium of Coplanar Force Systems

Assignment 6:

F. Singson (2022)
Pre-Midterm Exam

F. Singson (2022)
 Assumptions:

Method of Joints

Module 4: Analysis of Trusses

Analysis of Structures

Types of Trusses

F. Singson (2022)
Special Conditions

Assignment 7:

Method of Sections

F. Singson (2022)
Assignment 8:

Method of Members

F. Singson (2022)
Redundant Members:

Assignment 9:

Module 5: Force Systems in Space 3D

Component of Force in Space

𝐹𝑥 = 𝐹𝑐𝑜𝑠𝜃𝑥 𝐹 = √𝐹𝑥2 + 𝐹𝑦2 + 𝐹𝑧2

𝐹𝑦 = 𝐹𝑐𝑜𝑠𝜃𝑦 𝐹 = 𝐹𝑥 𝑖 + 𝐹𝑦 𝑗 + 𝐹𝑧 𝑘

𝐹𝑧 = 𝐹𝑐𝑜𝑠𝜃𝑧 𝐹 = 𝐹(𝑖𝑐𝑜𝑠𝜃𝑥 + 𝑗𝑐𝑜𝑠𝜃𝑦 + 𝑘𝑐𝑜𝑠𝜃𝑧 )

Unit vector

𝐹 = 𝐹(𝑙𝑖 + 𝑚𝑗 + 𝑛𝑘)

𝐹 = 𝐹𝑛𝐹
(a) Specification by two points on the line of action
of the force:

F. Singson (2022)
 ⃗⃗⃗⃗⃗
𝐴𝐵 Assignment 10:
𝐹 = 𝐹𝑛𝐹 = 𝐹
𝐴𝐵
(𝑥2 − 𝑥1 )𝑖 + (𝑦2 − 𝑦1 )𝑗 + (𝑧2 − 𝑧1 )𝑘
= 𝐹[ ]
√(𝑥2 − 𝑥1 )2 + (𝑦2 − 𝑦1 )2 + (𝑧2 − 𝑧1 )2
(b) Specification by two angles which orient the line
of action of the force

𝐹𝑥𝑦 = 𝐹 cos 𝜙
𝐹𝑧 = 𝐹 sin 𝜙
𝐹𝑥 = 𝐹𝑥𝑦 cos 𝜙 = 𝐹 cos 𝜙 𝑠𝑖𝑛𝜃
𝐹𝑦 = 𝐹𝑥𝑦 sin 𝜙 = 𝐹 cos 𝜙 𝑠𝑖𝑛𝜃

Dot Product

𝑃 ∙ 𝑄 = 𝑃𝑄 cos 𝛼

F. Singson (2022)
 Varignon’s Theorem in 3D

𝑟 𝑥 ΣF = r x 𝐹1 + r x 𝐹2 + r x 𝐹3 + ⋯
= r x (𝐹1 + 𝐹2 + 𝐹3 + ⋯ )

𝑀𝑂 = Σ(r x F) = r x R
Couples in 3D

𝑀 = 𝑟𝐴 𝑥 𝐹 + 𝑟𝐵 𝑥 (−𝐹) = (𝑟𝐴 − 𝑟𝐵 )𝑥 𝐹
𝑀=𝑟𝑥𝐹
Assignment 11:

Mid-Term Exam

Moment and Couple in Space

𝑀𝑂 = 𝑟 𝑥 𝐹
𝑖 𝑗 𝑘
𝑀𝑂 = | 𝑟𝑥 𝑟𝑦 𝑟𝑧 |
𝐹𝑥 𝐹𝑦 𝐹𝑧

𝑀𝑂 = (𝑟𝑦 𝐹𝑧 − 𝑟𝑧 𝐹𝑦 )𝑖 + (𝑟𝑧 𝐹𝑥 − 𝑟𝑥 𝐹𝑧 )𝑗 + (𝑟𝑥 𝐹𝑦 − 𝑟𝑦 𝐹𝑥 )𝑘

𝑀𝑥 = 𝑟𝑦 𝐹𝑧 − 𝑟𝑧 𝐹𝑦

𝑀𝑦 = 𝑟𝑧 𝐹𝑥 − 𝑟𝑥 𝐹𝑧

𝑀𝑧 = 𝑟𝑥 𝐹𝑦 − 𝑟𝑦 𝐹𝑥

Moment about an Arbitrary Axis

𝑀𝜆 = (𝑟 𝑥 𝐹 ∙ 𝑛) 𝑛
𝑟𝑥 𝑟𝑦 𝑟𝑧
|𝑀𝜆 | = 𝑀𝜆 = |𝐹𝑥 𝐹𝑦 𝐹𝑧 |
𝛼 𝛽 𝛾
F. Singson (2022)
 Assignment 12:

Resultant of Force System in Space

𝑅 = 𝐹1 + 𝐹2 + 𝐹3 + ⋯ = Σ𝐹
𝑀 = 𝑀1 + 𝑀2 + 𝑀3 + ⋯ = Σ(r x 𝐹)
𝑅𝑥 = ΣF𝑥 𝑅𝑦 = ΣF𝑦 𝑅𝑧 = ΣF𝑧

𝑅 = √(ΣF𝑥 )2 + (ΣF𝑦 )2 + (ΣF𝑧 )2

𝑀𝑥 = Σ(r x F)𝑥 𝑀𝑦 = Σ(r x F)𝑦

𝑀𝑧 = Σ(r x F)𝑧

𝑀 = √𝑀𝑥2 + 𝑀𝑦2 + 𝑀𝑧2

Equilibrium of Forces in Space

Σ𝐹 = 0
ΣF𝑥 = 0 ΣF𝑦 = 0 ΣF𝑧 = 0

Σ𝑀 = 0
ΣM𝑥 = 0 ΣM𝑦 = 0 ΣM𝑧 = 0

F. Singson (2022)
Assignment 13:

F. Singson (2022)
Module 6: Friction
Principles of friction

Examples:

𝐹𝛼𝑁
𝐹 = 𝜇𝑁
Angle of Friction

𝐹
𝑡𝑎𝑛∅ =
𝑁
𝑡𝑎𝑛∅ = 𝜇
Friction at impending motion

Cone of Friction

F. Singson (2022)
Further problems in Friction

General rules:

1. When normal pressure can be computed

directly in terms of know forces, use the
frictional and normal components of the surface
reaction, but for the other cases, use the total
surface reaction.
2. When only three forces act on a free body,
usually apply the sine law to the triangle of
forces.
3. When more than three forces are involved, of
which only two are unknown, it is suggested
that force summations be taken with respect to
perpendicular aces one of which coincides with
one of the unknowns.
4. For non-concurrent systems, always consider
the possibility of eliminating two of the
unknown forces by taking the moment
summation about the intersection of their lines
of action, or if this is not convenient, consider
force summations that will involve one, or at
most two, of the unknown forces.

Sample problems:

F. Singson (2022)
 Belt Friction:

Σ𝑀 = 0
(𝑇 + 𝑑𝑇)𝑟 − 𝑇𝑟 − 𝑟 ∙ 𝑑𝐹 = 0

𝑑𝐹 = 𝑑𝑇

Σ𝑌 = 0
𝑑𝜃 𝑑𝜃
𝑑𝑁 − (𝑇 + 𝑑𝑇) sin − 𝑇𝑠𝑖𝑛 =0
2 2
𝑑𝜃 𝑑𝜃
𝑑𝑁 = 2𝑇𝑠𝑖𝑛 + 𝑑𝑇𝑠𝑖𝑛
2 2
𝑑𝜃 𝑑𝜃
𝑑𝑁 = 2𝑇 +𝑇
2 2

𝑑𝑁 = 𝑇𝑑𝜃

𝑏𝑢𝑡 𝑑𝐹 = 𝜇𝑑𝑁
Wedges:
𝑑𝐹 = 𝜇𝑇𝑑𝜃
𝑑𝑇 = 𝜇𝑇𝑑𝜃

𝑑𝑇
= 𝜇𝑑𝜃
𝑇
𝑇1 𝛽
𝑑𝑇
∫ = 𝜇 ∫ 𝑑𝜃
𝑇2 𝑇 0

𝑇1
ln ( ) = 𝜇𝛽
𝑇1
𝑇1
= 𝑒 𝜇𝛽
𝑇1

F. Singson (2022)
Sample Problem:

Wedges

tan ∅ = 𝜇
𝑀𝑅 = 𝑅𝑟 sin(𝛼 + ∅)

𝑀 = [𝑟 sin(𝛼 + ∅)]Σ𝑅
Equilibrium of forces

𝑊 = Σ𝑅 cos(𝛼 + ∅) = [cos(𝛼 + ∅)]Σ𝑅

Combining M and W

𝑀 = 𝑊𝑟 tan( 𝛼 + ∅)
𝐿
𝛼 = 𝑡𝑎𝑛−1 ( 𝜇𝑟)
2
𝑀
𝑃=
𝑟

Conditions for Unwinding

If 𝛼 < ∅

F. Singson (2022)
 𝑀 = 𝑊𝑟 tan (∅ − 𝛼)
If 𝛼 > ∅

𝑀 = 𝑊𝑟 tan(𝛼 − ∅)
Sample problem:

Module 6: Centroids
Centroids of Lines
Σlx
𝑥̅ = 𝑦𝑎𝐿𝑥̅ = 𝑦𝑎𝑙1 𝑥1 + 𝑦𝑎𝑙2 𝑥2 + ⋯ = 𝑦𝑎Σ𝑙𝑥
𝐿

Σly
𝑦̅ = 𝑦𝑎𝐿𝑦̅ = 𝑦𝑎𝑙1 𝑦1 + 𝑦𝑎𝑙2 𝑦2 + ⋯ = 𝑦𝑎Σ𝑙𝑦
𝐿

Sample problem:

F. Singson (2022)
Centroid of Areas

Centroid of Volumes

Total weight: 𝑑𝑊 𝑜𝑟 𝑊 = ∫ 𝑑𝑊

𝑊𝑥̅ = ∫ 𝑥 𝑑𝑊
Sample Problem:
𝑊𝑦̅ = ∫ 𝑦 𝑑𝑊

𝑊𝑧̅ = ∫ 𝑧 𝑑𝑊

Density:

𝑊 ∙ 𝑥̅ = ∫ 𝑥 𝑑𝑊 𝛾 ∙ 𝑉 ∙ 𝑥̅ = 𝛾 ∫ 𝑥 𝑑𝑉

Cancel 𝛾:

𝑉 ∙ 𝑥̅ = ∫ 𝑥 𝑑𝑉

𝑉 ∙ 𝑦̅ = ∫ 𝑦 𝑑𝑉

𝑊𝑥̅ = ∑ 𝑤𝑥

F. Singson (2022)
 𝑊𝑦̅ = ∑ 𝑤𝑦

𝑊𝑧̅ = ∑ 𝑤𝑧

And

𝑉𝑥̅ = ∑ 𝑣𝑥

𝑉𝑦̅ = ∑ 𝑣𝑦

𝑉𝑧̅ = ∑ 𝑣𝑧

Module 7: Moments of Inertia

𝐼 = ∫ 𝑝 2 𝑑𝐴

𝑀𝑐
𝑆=
𝐼
S = Beam stress; I = Inertia; p = perpendicular distance;
dA = shaded region, small part

𝐼𝑥 = ∫ 𝑦 2 𝑑𝐴

𝐼𝑦 = ∫ 𝑥 2 𝑑𝐴

Polar Moment of Inertia

𝐽𝑧 = ∫ 𝑟 2 𝑑𝐴 = ∫(𝑥 2 + 𝑦 2 )𝑑𝐴 = ∫ 𝑥 2 𝑑𝐴 + ∫ 𝑦 2 𝑑𝐴

𝐽𝑧 = 𝐼𝑥 + 𝐼𝑦

Radius of Gyration

𝐼
𝑘=√ or 𝐼 = 𝐴𝑘 2
𝐴

A = Area; k = radius of gyration

F. Singson (2022)
 𝐼 = ∫ 𝑝 2 𝑑𝐴 = 𝑘 2 ∫ 𝑑𝐴 = 𝐴𝑘 2

Transfer Formula for Moment of Inertia

𝐼𝑥 = ∫(𝑦 + 𝑑)2 𝑑𝐴 = ∫ 𝑦 2 𝑑𝐴 + 2𝑑 ∫ 𝑦𝑑𝐴 + 𝑑 2 ∫ 𝑑𝐴

𝐼𝑥 = 𝐼𝑥̅ + 𝐴𝑑 2

𝐼𝑦 = 𝐼𝑦̅ + 𝐴𝑑 2

𝐴𝑘𝑠2 = 𝐴𝑘̅𝑠2 + 𝐴𝑑 2

𝑘𝑠2 = 𝑘̅𝑠2 + 𝑑 2

𝑗 = 𝑗̅ + 𝐴𝑑 2

𝑘 3 = 𝑘̅ 2 + 𝑑 2
Illustrative Problems:

F. Singson (2022)
F. Singson (2022)
F. Singson (2022)