STATICS OF RIGID BODIES

Module 6
Module Title: Force Systems in Space (3D)

Module Description: This module covers the 3D force systems, the determination of its
components, its resultant, moment/s created and the determining forces needed to maintain
equilibrium.

Purpose of the Module:

This module prepares the students in designing static structures which are mostly spatial
in nature.

Module Guide:

Each lesson in the module begins with a discussion, followed by examples and ends
with a set of exercises with answers provided.

Link to videos and/ or other reading materials are also given to reinforce the learnings
for each lesson presented.

Module Outcomes:
1. Determine forces of 3D structures.

Module Requirements:

At the end of this module, the students will submit the following:

1. Provide solution to all the exercises of each lesson.

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Learning Plan
Lesson No: 1

Lesson Title: Components of Forces in Space (3D)

Let’s Hit These:

At the end of this lesson, students should be able to:
 Resolve spatial forces to its components.

Let’s Get Started:

In the previous lesson, we discussed about 2D forces having only the X and Y axes.
In this lesson, we will now consider 3D forces by introducing another axis, the Z axis.

Let’s Read:

Figure 6.1.1. Rectangular Components of a 3D Force

The relationship existing between the force F and its three components Fx, Fy, Fz is
more easily visualized if a “box” having Fx, Fy, Fz for edges is drawn as shown in
Fig. 6.1.1. The force F is then represented by the diagonal OA of this box.

Figure 1.17a shows the right triangle OAD where we can derive the formula for
solving the component of force in the x-axis,

cos 𝜃 = , or 𝐹 = 𝐹𝑐𝑜𝑠𝜃

Figures 6.1.1b and c gives the two other right triangles that can also been drawn:
OAB and OAE. These triangles are seen to occupy in the box positions comparable with that
of triangle OAD. Denoting by 𝜃 and 𝜃 , respectively, the angles that F forms with the x and
z axes, we can derive two formulas similar to 𝐹 = 𝐹𝑐𝑜𝑠𝜃 . We thus write the following
formulas for solving the components of a 3D force,

𝐹 = 𝐹𝑐𝑜𝑠𝜃 𝐹 = 𝐹𝑐𝑜𝑠𝜃 𝐹 = 𝐹𝑐𝑜𝑠𝜃

Direction Cosines: cos 𝜃 = , cos 𝜃 = , cos 𝜃 =

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From plane ODCE, the resultant for the two forces Fx and Fz would be,

𝐹 = (𝐹 ) + (𝐹 ) .

Using Pythagorean theorem for solving the resultant of the forces Fxz and Fy, we
can now derive the equation for the resultant of force F.

𝐹= (𝐹 ) + (𝐹 )

𝐹= ( (𝐹 ) + (𝐹 ) ) + (𝐹 )

𝐹= (𝐹 ) + (𝐹 ) + (𝐹 )

Notice that the box in figure 1.17 is geometrically similar to the rectangular
parallelepiped formed by the components of the force F; the force being the body diagonal
of this parallelepiped. Therefore, we can create the following relation and proportionality
between the sides and the component of the force,

= = =

Where: 𝑑 = 𝑥 +𝑦 +𝑧

Note: The positive direction for x and y axes are the same as the 2D plane. For z-axis,
the positive direction is the one moving from the origin (0) to letter E in figure 6.1.2 below.

Figure 6.1.2

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Example 1. Determine the components of a force F = 300lb whose line of action coincides
with the line joining points A (-2, 1, 3) and B (3, 5, -3).

Solution: By plotting the force in the xyz coordinate plane we find the following values,

Figure 6.1.3

x = 2 + 3 = 5,
y=5–1=4
z = 3+ 3 = 6

Therefore the diagonal distance from pt. A to pt. B is,

𝑑 = 𝑥 +𝑦 +𝑧
𝑑 = √5 + 4 + 6
𝑑 = 8.78

Using the relation and proportionality between the sides and the component of the force,

𝐹 𝐹 𝐹 𝐹
= = =
𝑑 𝑥 𝑦 𝑧

𝐹 𝐹 𝐹 (𝑥) 300(5)
= ; 𝐹 = = = 𝟏𝟕𝟏 𝒍𝒃
𝑥 𝑑 𝑑 8.78

𝐹 𝐹 𝐹 (𝑦) 300(4)
= ; 𝐹 = = = 𝟏𝟑𝟕 𝒍𝒃
𝑦 𝑑 𝑑 8.78

𝐹 𝐹 𝐹 (𝑧) 300(6)
= ; 𝐹 = = = −𝟐𝟎𝟓 𝒍𝒃
𝑧 𝑑 𝑑 8.78

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Example 2. Determine the components of a force F = 600lb whose line of action coincides
with the line joining points A (3, 2, -3) and B (4, -5, 3).

Solution: By plotting the force in the xyz coordinate plane we find the following values,

Figure 6.1.4

x=4–3=1
y=5+1=7
z = 3+ 3 = 6

Therefore the diagonal distance from pt. A to pt. B is,

𝑑 = 𝑥 +𝑦 +𝑧
𝑑 = √1 + 7 + 6
𝑑 = 9.27

Using the relation and proportionality between the sides and the component of the force,

𝐹 𝐹 𝐹 𝐹
= = =
𝑑 𝑥 𝑦 𝑧

𝐹 𝐹 𝐹 (𝑥) 600(1)
= ; 𝐹 = = = 𝟔𝟒. 𝟕𝟐 𝒍𝒃
𝑥 𝑑 𝑑 9.27

𝐹 𝐹 𝐹 (𝑦) 600(7)
= ; 𝐹 = = = 𝟒𝟓𝟑. 𝟎𝟕 𝒍𝒃
𝑦 𝑑 𝑑 9.27

𝐹 𝐹 𝐹 (𝑧) 600(6)
= ; 𝐹 = = = −𝟑𝟖𝟖. 𝟑𝟓 𝒍𝒃
𝑧 𝑑 𝑑 9.27

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Learning Plan
Lesson No: 2

Lesson Title: Moment of Force Systems in Space (3D)

Let’s Hit These:

At the end of this lesson, students should be able to:
 Determine the moment created by spatial forces.

Let’s Get Started:

Whereas the preceding lesson defined the moment of a force about a point, this part
discusses the moment of a force about an axis. Because moment about an axis is a measure
of the tendency of a force to rotate a body about the axis, it is fundamental to the study of
engineering mechanics. We begin with a formal definition of the moment about an axis, and
we then examine its geometric interpretation.

Let’s Read:

Suppose we are given an arbitrary force F and an arbitrary axis AB, as shown in Fig.
1.26. We construct a plane P that is perpendicular to the AB axis and let O and C be the
points where the axis and the line of action of the force intersect P, respectively.

The moment of F about AB is obtained from the

scalar expression MAB = F2d. The sense of the
moment must be determined by inspection.

𝑀 =𝐹𝑑

Figure 6.2.1

The moment of a force about an axis possesses the following physical characteristics:

 A force that is parallel to the moment axis (such as F1) has no moment about that
axis.
 If the line of action of a force intersects the moment axis (d=0), the force has no
moment about that axis.
 The moment of a force is proportional to its component that is perpendicular to the
moment axis (such as F2), and the moment arm (d) of that component.
 The sense of the moment is consistent with the direction in which the force.

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To illustrate the above characteristics, consider

opening the door in Fig. 6.2.2 by applying a force P to Figure 6.2.2
the handle. In the figure, P is resolved into the following
rectangular components: Px intersects the hinge axis, Py
is perpendicular to the door, and Pz is parallel to the
hinge axis.

To open the door, we must apply a moment about

the z-axis (the hinge axis). Experience tells us that Py is
the only component of the force that would accomplish
this task. The components Px and Pz are ineffective,
because their moments about the z-axis are zero. We also know that it is easier to open the
door if we increase the distance between the handle and the hinge axis (the moment arm) or
if the magnitude of Py is increased. Finally, observe that Py causes the door to rotate in the
direction shown in the figure, which is also the sense of the moment about the z-axis.

Now considering the characteristics of moment of a force about an axis we can say that
one of the three components of a force is always parallel to the axis where we take the
moment, thereby creating no moment. With this, we can now derive the following formulas:
𝑀 = ±𝑧𝐹 ± 𝑦𝐹
𝑀 = ±𝑧𝐹 ± 𝑥𝐹
𝑀 = ±𝑦𝐹 ± 𝑥𝐹

POSITIVE OR NEGATIVE MOMENT ABOUT AN AXIS

Figure 6.2.3

To determine the direction of rotation, one should be looking from the direction of
positive axis towards the origin and examine if the rotation is clockwise or
counterclockwise. See figure 6.2.3.

Again for this course, we shall always consider clockwise motion to be creating a
positive moment and a counter clockwise rotation to be creating a negative moment for
uniformity.

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Example 1. A 200lb force F passes through point A to point B. Compute the moment of
force F about each coordinate axis.

Figure 1.29

Solution:

Solving for the diagonal distance from points A to B,

𝑑 = 4 +3 +4
𝑑 = 6.4

Solving for the components of the force using proportionality,

= = =

𝐹 𝐹 𝐹𝑥 200(4)
= ;𝐹 = = = 125𝑙𝑏
𝑥 𝑑 𝑑 6.4
𝐹 𝐹 𝐹𝑦 200(3)
= ;𝐹 = = = 93.7𝑙𝑏
𝑦 𝑑 𝑑 6.4

𝐹 𝐹 𝐹𝑧 200(4)
= ;𝐹 = = = 125𝑙𝑏
𝑧 𝑑 𝑑 6.4

Solving for the moment of force F about the three axes,

𝑀 = 𝐹 𝑧 = 93.7𝑙𝑏 (4 ) = 𝟑𝟕𝟒. 𝟖 𝒍𝒃 ∙ 𝒇𝒕
𝑀 = 𝐹 𝑧 − 𝐹 𝑥 = 125𝑙𝑏 (4 ) − 125𝑙𝑏 (6 ) = −𝟐𝟓𝟎 𝒍𝒃 ∙ 𝒇𝒕
𝑀 = −𝐹 𝑥 = −93.7𝑙𝑏 (6 ) = −𝟓𝟔𝟐. 𝟐 𝒍𝒃 ∙ 𝒇𝒕

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Example 2. The framework shown is composed of

three members AB, AC and AD. Points B and C Figure 6.2.4
are on the same horizontal plane. Points C and D
are in the same vertical plane. At point A, a 1000lb
force acts in a direction parallel to the X-axis.
Neglecting the weights of the members, determine
the forces in AB, AC and AD.

Solution:

We can find the moment just at any specific

point in either of the three axes. However, by
inspection, we need to choose the best point and
axis in order to solve a problem faster. For this example, a moment summation about the
y-axis at point C would help determine 𝐷 ,

𝛴𝑀 = 𝐴𝐷 (15′) − 1000𝑙𝑏(10 ) = 0;
𝐴𝐷 = 667 𝑙𝑏

Using proportionality we can now solve for force AD and its remaining components,
𝑑 = √10 + 14 + 5
𝑑 = √321

= = = ; = = =
√

𝐴𝐷 = 993 𝑙𝑏, A𝐷 = 333 𝑙𝑏, A𝑫 = 𝟏𝟏𝟗𝟐 𝒍𝒃 (T)

Summation of forces at x-axis and equating it to zero,

𝛴𝑋 = 0
1000 𝑙𝑏 − 𝐴𝐶 − A𝐷 = 0
𝐴𝐶 = 333 𝑙𝑏

Using proportionality we can now solve for force AC and its remaining components,
𝑑 = √10 + 20 + 10
𝑑 = √600

= = = ; = = =
√

𝐴𝐶 = 667 𝑙𝑏, A𝐶 = 333 𝑙𝑏, A𝑪 = 𝟖𝟏𝟓 𝒍𝒃 (T)

Summation of forces at y-axis and equating it to zero,

𝛴𝑌 = 0
𝐴𝐵 − 𝐴𝐶 − 𝐴𝐷 = 0
𝑨𝑩 = 𝑨𝑩𝒚 = 𝟏𝟔𝟎𝟎 𝒍𝒃 (C)

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Learning Plan
Lesson No: 3

Lesson Title: Resultant of Spatial Force Systems

Let’s Hit These:

At the end of this lesson, students should be able to:
 Solve resultant problems involving couples.

Let’s Get Started:

In general, a three-dimensional force system cannot be simplified beyond a force-

couple system. Exceptions are systems in which the forces are either concurrent or parallel.
In this article, we will cover only the concurrent spatial force systems.

Let’s Read:

RESULTANT OF CONCURRENT SPATIAL FORCE SYSTEM

The resultant of a system of concurrent space forces is found in a fashion similar to that
used for coplanar concurrent forces. The X, Y, and Z components of the resultant are equal
to the algebraic summations of the X, Y, and Z components of the forces composing the
system.

𝑅 = Σ𝐹 , 𝑅 = Σ𝐹 𝑎𝑛𝑑 𝑅 = Σ𝐹

Having determined the components of the resultant, we may now determine the
resultant itself,

𝑅= (𝑅 ) + (𝑅 ) + (𝑅 )

Figure 6.3.1 Resultant of a Concurrent Spatial Force System

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Example 1. Determine the resultant of the system of concurrent forces having the following
magnitudes passing through the origin and the indicated points: P = 200lb (4,3,5), Q = 400lb
(6,-3,-5) and F = 300lb (-3,6,-4).

Solution:

Plotting the data provided,

We can now solve for components of the three forces using the method discussed in
module 1 lesson 2b,

𝑑= 𝑥 +𝑦 +𝑧 = = =

𝑑 = √4 + 3 + 5 .
= = =

𝑑 = √6 + −3 + −5 .
= = =

𝑑 = √−3 + 6 + −4 .
= = =

Solving for the resultant,

𝑅= (𝑅 ) + (𝑅 ) + (𝑅 ) = (285.1) + (171.9) + (−251.3) = 416lb

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𝐹 285.1
cos 𝜃 = = ; 𝜃 = 46.7°
𝐹 416

𝐹 171.9
cos 𝜃 = = ; 𝜃 = 65.6°
𝐹 416
𝐹 251.3
cos 𝜃 = = ; 𝜃 = 52.8°
𝐹 416

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Learning Plan
Lesson No: 4

Lesson Title: Equilibrium of Spatial Concurrent Force Systems

Let’s Hit These:

At the end of this lesson, students should be able to:
 Solve problems involving spatial concurrent force systems.

Let’s Read:

Figure 6.4.1 Spatial Concurrent Force System

There are six equilibrium conditions that can be used to for the equilibrium of spatial
concurrent force systems:

Σ𝐹 = 0 ; The sum of all forces in the x-direction is zero.

Σ𝐹 = 0 ; The sum of all forces in the y-direction is zero.
Σ𝐹 = 0 ; The sum of all forces in the z-direction is zero.
Σ𝑀 = 0 ; The sum of all the moments at the x-axis is zero.
Σ𝑀 = 0 ; The sum of all the moments at the y-axis is zero.
Σ𝑀 = 0 ; The sum of all the moments at the z-axis is zero.

Example 1. The framework shown is composed of

three members AB, AC and AD. Points B and C Figure 6.4.2
are on the same horizontal plane. Points C and D
are in the same vertical plane. At point A, a 1000lb
force acts in a direction parallel to the X-axis.
Neglecting the weights of the members, determine
the forces in AB, AC and AD.

Solution:

We can find the moment just at any specific

point in either of the three axes. However, by
inspection, we need to choose the best point and
axis in order to solve a problem faster. For this example, a moment summation about the
y-axis at point C would help determine𝐷 ,

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𝛴𝑀 = 𝐴𝐷 (15′) − 1000𝑙𝑏(10 ) = 0;
𝐴𝐷 = 667 𝑙𝑏

Using proportionality we can now solve for force AD and its remaining components,
𝑑 = √10 + 14 + 5
𝑑 = √321

= = = ; = = =
√

𝐴𝐷 = 993 𝑙𝑏, A𝐷 = 333 𝑙𝑏, A𝑫 = 𝟏𝟏𝟗𝟐 𝒍𝒃 (T)

Summation of forces at x-axis and equating it to zero,

𝛴𝑋 = 0
1000 𝑙𝑏 − 𝐴𝐶 − A𝐷 = 0
𝐴𝐶 = 333 𝑙𝑏

Using proportionality we can now solve for force AC and its remaining components,
𝑑 = √10 + 20 + 10
𝑑 = √600

= = = ; = = =
√

𝐴𝐶 = 667 𝑙𝑏, A𝐶 = 333 𝑙𝑏, A𝑪 = 𝟖𝟏𝟓 𝒍𝒃 (T)

Summation of forces at y-axis and equating it to zero,

𝛴𝑌 = 0
𝐴𝐵 − 𝐴𝐶 − 𝐴𝐷 = 0
𝑨𝑩 = 𝑨𝑩𝒚 = 𝟏𝟔𝟎𝟎 𝒍𝒃 (C)

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Example 2. The points B, C, and D of the cantilever framework shown are attached to a
vertical wall. The 400lb load is parallel to the z-axis, and the 1200lb load is vertical.
Compute the force in each member.

Figure 6.4.3
Solution:

FBD:

Solving for the diagonal distances,

𝑑 = 10 + 0 + (−4) = 10.77′
𝑑 = 10 + 0 + (4) = 10.77′
𝑑 = √10 + 6 + 0 = 11.66′

Summation of forces at y-axis and equating it to zero,

𝛴𝐹 = 0
𝐷 − 1200 = 0
𝑫𝒚 = 𝟏𝟐𝟎𝟎 𝒍𝒃

Using proportionality we can now solve for force D and Dx,

= = ;
𝑫𝒙 = 𝟐𝟎𝟎𝟎 𝒍𝒃, 𝐃 = 𝟐𝟑𝟑𝟐 𝒍𝒃 (𝑻)

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Summation of moment at point C y-axis,

𝛴𝑀 = 0
−400(10) + 𝐵 (8) − 𝐷 (4) = 0
−400(10) + 𝐵 (8) − 2000(4) = 0
𝑩𝒙 = 1500𝑙𝑏

Using proportionality we can now solve for force B and Bz,

= = ;
𝑩𝒛 = 𝟔𝟎𝟎 𝒍𝒃, 𝐁 = 𝟏𝟔𝟏𝟓. 𝟓 𝒍𝒃 (C)

Summation of forces at z-axis and equating it to zero,

𝛴𝐹 = 0
𝐵 − 𝐶 − 400 = 0
600 − 𝐶 − 400 = 0
𝑪𝒛 = 𝟐𝟎𝟎 𝒍𝒃

Using proportionality we can now solve for force C and Cx,

= = ;
𝑪𝒙 = 𝟓𝟎𝟎 𝒍𝒃, 𝐂 = 𝟓𝟑𝟖. 𝟓 𝒍𝒃 (𝑪)

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Learning Plan
Lesson No: 5

Lesson Title: Equilibrium of Spatial Parallel Force Systems

Let’s Hit These:

At the end of this lesson, students should be able to:
 Solve problems involving spatial parallel force systems.

Let’s Read:

Figure 3.18 Spatial Parallel Force System

There are three equilibrium conditions that can be used to for the equilibrium of spatial
parallel force systems:

Σ𝐹 = 0 ; The sum of all forces at the axis parallel to the forces is zero.
Σ𝑀 = 0 ; The sum of all the moments at the axis not parallel to the forces is zero.
Σ𝑀 = 0 ; The sum of all the moments at the axis not parallel to the forces is zero.

Example 1. The nonhomogeneous plate weighing 60 KN has its center of gravity at G. It is

supported in the horizontal plane by three vertical cables. Compute the tension in each cable.

Figure 3.19

Solution:

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Summation of moment at y-axis and equating it to zero,

𝛴𝑀 = 0
𝑇 (3.6) − 60(1.2) = 0
𝑻𝑨 = 𝟐𝟎 𝑲𝑵

Summation of moment at x-axis and equating it to zero,

𝛴𝑀 = 0
−𝑇 (0.8) − 𝑇 (3.0) + 60(1.0) = 0
0.8𝑇 + 3.2𝑇 = 60
.
𝑇 = .

Summation of forces at z-axis and equating it to zero,

𝛴𝐹 = 0
𝑇 + 𝑇 + 𝑇 = 60
.
20 + .
+ 𝑇 = 60
.
.
+ 𝑇 = 40
60 − 3.2𝑇 + 0.8𝑇 = 32
60 − 3.2𝑇 + 0.8𝑇 = 32
𝑇 = . .
𝑻𝑪 = 𝟏𝟐. 𝟕𝟑 𝑲𝑵

. . ( . )
𝑇 = .
= .
𝑻𝑩 = 𝟐𝟕. 𝟐𝟔𝑲𝑵

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Learning Plan
Lesson No: 6

Lesson Title: Equilibrium of Spatial Non-Concurrent Force Systems

Let’s Hit These:

At the end of this lesson, students should be able to:
 Solve problems involving spatial non-concurrent force systems.

Let’s Read:

Figure 3.20 Spatial Non-concurrent Force System

There are six equilibrium conditions that can be used to for the equilibrium of spatial
non-concurrent force systems:

Σ𝐹 = 0 ; The sum of all forces in the x-direction is zero.

Σ𝐹 = 0 ; The sum of all forces in the y-direction is zero.
Σ𝐹 = 0 ; The sum of all forces in the z-direction is zero.
Σ𝑀 = 0 ; The sum of all the moments at the x-axis is zero.
Σ𝑀 = 0 ; The sum of all the moments at the y-axis is zero.
Σ𝑀 = 0 ; The sum of all the moments at the z-axis is zero.

Example 1. The horizontal boom OC, which is supported by a ball-and-socket joint and two
cables, carries the vertical force P = 8000 lb. Calculate TAD and TCE , the tensions in the cables,
and the components of the force exerted on the boom by the joint at O. (The weight of the
boom is negligible).

Figure 3.21

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Solution:

Solving for the diagonal distances of the two cables,

𝑑 = √2.5 + −3 + 3 = 4.92′
𝑑 = √−3.5 + −6 + 3 = 7.57′

Summation of moment at point O y-axis and equating it to zero,

𝛴𝑀 = 0
8000(5) − 𝑇 (3)−𝑇 (6) = 0
3𝑇 + 6𝑇 = 40,000
( ) ( )
3 +6 = 40,000
( ) ( )
3 . +6 . = 40,000
1.83𝑇 + 2.38𝑇 = 40,000

Summation of moment at point O z-axis and equating it to zero,

𝛴𝑀 = 0
𝑇 (3)−𝑇 (6) = 0
3𝑇 − 6𝑇 =0
( ) ( )
3 −6 =0
( . ) ( . )
3 . −6 .
=0
−1.52𝑇 + 2.77𝑇 =0

Equating the two equations with two unknowns,

+1.83𝑇 + 2.38𝑇 = 40,000
−1.52𝑇 + 2.77𝑇 = 0

𝑻𝑨𝑫 = 𝟏𝟐𝟕𝟓𝟓. 𝟏𝟑𝒍𝒃 (𝑻), 𝑻𝑪𝑬 = 𝟔𝟗𝟗𝟗. 𝟐𝟏𝒍𝒃 (T)

CE213: Statics of Rigid Bodies Page 134 of 140

 STATICS OF RIGID BODIES

Summation of forces at the three axes and equating it to zero,

𝛴𝐹 = 0
𝑂 +𝑇 −𝑇 =0
𝑂 = −𝑇 +𝑇
( . ) ( . )
𝑂 =− .
+ .
. ( . ) . ( . )
𝑂 =− .
+ .
𝑶𝒙 = −𝟑𝟐𝟒𝟓. 𝟏𝟕 𝒍𝒃 (directed to the negative x-direction)

𝛴𝐹 = 0
𝑂 −𝑇 −𝑇 =0
𝑂 =𝑇 +𝑇
( ) ( )
𝑂 = .
+ .
. ( ) . ( )
𝑂 = .
+ .
𝑶𝒚 = 𝟏𝟑, 𝟑𝟐𝟓. 𝟏𝟏 𝒍𝒃

𝛴𝐹 = 0
𝑂 +𝑇 +𝑇 − 8000 = 0
𝑂 = −𝑇 −𝑇 + 8000
( ) ( )
𝑂 =− .
− .
+8000
. ( ) . ( )
𝑂 =− .
− .
+ 8000
𝑶𝒙 = −𝟐𝟓𝟓𝟏. 𝟑𝟏 𝒍𝒃 (directed to the negative z-direction)

CE213: Statics of Rigid Bodies Page 135 of 140