EQUIVALENT FORCE

SYSTEMS IN 2D AND 3D

ENGR. OSCAR DEAN

VILLAVERDE, RMEE, SO2
 FORCE SYSTEMS

2-D Force Systems 3-D Force Systems

Force Force
Moment,Couple Moment, Couple
Resultants Resultants

2
 3D-Force Systems

Rectangular Components, Moment,

Couple, Resultants

3
moment Moment (3D)
axis
X
Moment about
point P :
M P,F = r  F
F
Y
-Magnitude: | r || F | sin  = Fd
d F2
P -Direction: right-hand rule
O -Point of application: point O
(Unit: newton-meters, N-m)

In 3D, forces (generally) are not in the same plane.

In many cases on 3D, d (the perpendicular distance) is hard to

find. It is usually easier to find the moment by using the vector
approach with cross product multiplication.
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 Cross Product
- - -
iˆ ˆj kˆ iˆ ˆj kˆ iˆ ˆj
M o,F = r  F = rx ry rz = rx ry rz rx ry
Fx Fy Fz Fx Fy Fz Fx Fy
+ + +

M o = ( rxiˆ + ry ˆj + rz kˆ)  ( Fxiˆ + Fy ˆj + Fz kˆ)

= rx Fx (iˆ  iˆ) + rx Fy (iˆ  jˆ) + rx Fz (iˆ  kˆ ) +
= ry Fx ( jˆ  iˆ) + ry Fy ( jˆ  jˆ) + ry Fz ( jˆ  kˆ) +

Beware: xyz axis

= rz Fx (kˆ  iˆ) + rz Fy (kˆ  jˆ) + rz Fz (kˆ  kˆ)
must complies with
right-hand rule
M o = ( ry Fz − rz Fy )iˆ + (rz Fx − rx Fz ) ˆj + ( rx Fy − ry Fx )kˆ
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Moment (Cross Product)

M o = ( ry Fz − rz Fy ) iˆ + (rz Fx − rx Fz ) ˆj + (rx Fy − ry Fx ) kˆ

Physical Meaning

F +
Fz x Mx = ryFz- rzFy
z Fy
A
 +
r Fx y My = rzFx - rxFz
rz y

rx z
O
ry + Mz= rxFy - ryFx
x
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Moment
Moment About a Point # 0
Resultant Moment of Forces
z
F3
F1

MO =  (ri  Fi )
i
r3 r1 MO
F2
r2
y
O

x
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Varignon’s Theorem (Principal of Moment)
 
F1 F3 - Two or more concurrent forces
- their moments about a point may be
r found in two ways
O A
 - for nonconcurrent forces
F2
          
M o = r  F1 + r  F2 + r  F3 + ... = r  ( F1 + F2 + F3 + ...)
 
= r  ( F )
    
M o =  (r  F ) = r  R

- Sum of the moments of a system of concurrent forces about a

given point equals the moment of their sum about the same point
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 1. Determine
 the vector expression for the
moment Mo of the 600-N force about point O.
The design specification for the bolt at O
would require this result. M  
= r F
O OA


rOA = (0.05 + 0.13 sin 60  ) î
− (0.14 + 0.13 cos 60  ) ĵ + 0.15 k̂

rOA = 0.1626 î − 0.205 ĵ + 0.15 k̂

F =? Fz = 600sin 45o Fxy = 600cos45o

Fx = Fxy sin600 = 600cos45o sin60o
Fy = − Fxy cos600 = −600cos45o cos60o
M O ,F = rOA  F F = 600(0.612 iˆ − 0.354 ˆj + 0.707 kˆ )
iˆ ˆj kˆ = 367i − 212 ˆj + 424 kˆ
= 0.1626 −0.205 0.15
367 −212 424 = − 55.1iˆ − 13.9 ˆj + 40.8 kˆ N Ans
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 Using: rOP (3D Vector)
z
MO 6m
x
0.8m
rOP
O
y 400N P
1.2m
rOP = −6i + 0.8 ˆj + 1.2 kˆ

F = −400 ˆj
M O = rOP  F

i ˆj kˆ
= -6 0.8 1.2 = 480iˆ + 2400kˆ
0 -400 0 N-m
Ans
14
 Using: rOQ (3D vector)
z
MO 6m
x
0.8m
rOQ
O
y 400N Q
1.2m
rOQ = −6iˆ + 0 ˆj + 1.2kˆ
VD2
F = −400 ˆj

MO = rOQ  F

i ˆj kˆ
= -6 0 1.2 = 480iˆ + 2400kˆ
0 -400 0
N-m
Ans 15
 Using: rOQ (Scalar  3Plane)

M o = (ry Fz − rz Fy ) iˆ + (rz Fx − rx Fz ) ˆj + (rx Fy − ry Fx ) kˆ

plus M O , x = + rz Fy = 1.2  400 = 480

M O, y = 0
rx M O , z = + rx Fy = 6  400 = 2400

rz ˆ ˆ
MO =480i+2400k N-m
Ans

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Moment
Example Hibbeler Ex 4-4 #1

Determine the moment

about the support at A.

rB = (1iˆ + 3 jˆ + 2kˆ ) m
r = (3iˆ + 4 jˆ) m
C

rCB = rB − rC = ( −2iˆ − 1jˆ + 2kˆ ) m

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Moment
Example Hibbeler Ex 4-4 #2

rCB = ( −2iˆ − 1jˆ + 2kˆ ) m

rCB −2iˆ − 1ˆj + 2kˆ 1
uF = = = ( −2iˆ − 1jˆ + 2kˆ )
rCB ( −2)2 + ( −1)2 + 22 3
F = (60 N)uF = ( −40iˆ − 20 jˆ + 40kˆ ) N
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Moment
Example Hibbeler Ex 4-4 #3

iˆ jˆ kˆ
M A = rC  F = 3 4 0 = (160iˆ − 120 jˆ + 100kˆ ) N  m
−40 −20 40

M A = (160)2 + ( −120)2 + (100)2 = 223.61 = 224 N  m #

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Moment
Example Hibbeler Ex 4-4 #4

M A = rC  F = rB  F
iˆ jˆ kˆ
M A = rB  F = 1 3 2 Nm
−40 −20 40

M A = (160iˆ − 120 jˆ + 100kˆ ) N  m

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 Couple
 Couple is a summed moment
M
produced by two force of equal

−F magnitude but opposite in direction.
d
B 

r 
rB F M O = rA  F + rB  ( − F ) = ( rA − rB )  F
 A
rA
O
  
M = r F

from any point on line of the action

magnitude and direction
to any point on the other line of action
Do not depend on O

Moment of a couple is the same about all point

→ Couple may be represented as a free vector. 21
 The followings

are equivalent

couples  
M M M M
F F
F d/2
F
   2F
F
2F
F
Every point has the equivalent
moment.

2D representations: (Couples) couple is

a free vector

M M M M

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 - Couple tends to produce a “pure” rotation of the body about an
axis normal to the plane of the forces (which constitute the
couple); i.e. the axis of the couple.
 
M1  M
M
 
− F1 M1
 
M2  M2
F1
 
− F2 F2

−F 
F

- Couples obey all the usual rules that govern vector quantities.
- Again, couples are free vector. After you add them (vectorially), the
point of application are not needed!!!

- Compare to adding forces (i.e. finding resultant), after you add the forces
vectorially (i.e. obtaining the magnitude and direction of the resultant), you
still need to find the line of action of the resultant . 23
 30 N
60 30 N 1) Replace the two couples with

60 a single couple M that still
x produces the same external
y effect on the block.
0.05 m  
25 N 2) Find two forces F and − F on
two faces of the block that
25 N parallel to the y-z plane that
(forces act parallel to y-z plane)
will replace these four forces.
z

(25)(0.1)= 2.5 N-m M = 1.82 + 2.52 − 2(1.8)(2.5) cos 60o = 2.23 N-m

60
1.8 2.23
M =   = 44.3o
 sin  sin 60o
y
60
M
z M 2.23
(30)(0.06)= 1.8 N-m F= = = 22.3 N
d 0.10

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Moment
Example Hibbeler Ex 4-13 #1
Replace the two couples acting on the pipe column by
a resultant couple moment.

M1 = d  F = (150 N)(0.4 m) = 60 N  m
M = (60iˆ) N  m
1

M2 = rDC  FC
4 3 
= (0.3iˆ)  125  ˆj − kˆ  N  m
5 5 
= 30( iˆ  ˆj ) − 22.5( iˆ  kˆ ) N  m

= (22.5 ˆj + 30kˆ ) N  m

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Moment

Example Hibbeler Ex 4-13 #2

MR = M1 + M2 = (60iˆ + 22.5 jˆ + 30kˆ ) N  m #

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 Review
Concepts #1
• Vectors can be manipulated by scalar multiplication,
addition, subtraction, dot product, cross product and
mixed triple product. Vectors representing can be
classified into free, sliding and fixed vectors.
• Position vectors describe the position of a point relative
to a reference point or the origin.
• Statically, force is the action of one body on another.
In dynamics, force is an action that tends to cause
acceleration of an object. To define a force on rigid
bodies, the magnitude, direction and line of action
are required. Thus, the principle of transmissibility is
applicable to forces on rigid bodies.

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 Review
Concepts #2

• To define a moment about a point, the magnitude,

direction and the point are required. To define a
moment about an axis, the magnitude, direction and
the axes are required. To define a couple, the
magnitude and direction are required.

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