COLLEGE OF ENGINEERING CIVIL ENGINEERING DEPARTMENT MODULE 1: Introduction, Forces and its

projections

ES 21: STATICS OF RIGID BODIES mass concentrated at a point. We may treat a body as a particle when its dimension
is irrelevant to the description of its position or the action of forces applied to it.
General Objectives
• To understand the basic concepts, principles, and the application of FORCE, F
Engineering Force is the action of one body on another. A force tends to move a body in the
Mechanics -Statics of rigid Bodies direction of its action, a push or pull. The action of a force is characterized by its
• To understand the basic concept of statically determinate structure.  magnitude, by the direction of its action, and by its point of application. Thus, force is
To gain a basic knowledge of structural Analysis.
𝑭 = 𝒎𝒂
a vector quantity.

INTRODUCTION TO STATICS OF RIGID BODIES MASS

MECHANICS Mass is the measure of inertia of a body, which is its resistance to change of
Mechanics is the physical science that deals with the effects of forces on objects. velocity. Mass can also be thought of as the quantity of matter in a body. The
The principle of Mechanics is central to research and development in the fields of mass of the body affects the gravitational attraction force between it and other
vibrations, stability and strength of structures and machines, robotics rockets, and bodies.
spacecraft design, automatic control, engine performance, fluid flow, electrical
machines and apparatus, and molecular, atomics, and sub-atomic behavior. A Weight, W
thorough understanding of this subject is an essential prerequisite for work in these
and many other fields.

Mathematics rigorously expresses the principles of mechanics as a science, and

thus, mathematics plays an important role in applying these principles to the solution
of practical problems.

The Subject of Mechanics is logically divided into two parts:

Statics that concern the equilibrium of bodies under the action of forces and
Dynamics, which concerns the motion of bodies

STATICS OF RIGID BODIES

Statics of Rigid Bodies is a branch of mechanics that deals with the behavior of solid
bodies subjected to various types of loading.

DEFINITIONS AND CONCEPTS

PARTICLE
A Particle is a body of negligible dimensions. In the mathematical sense, a particle is Pressure/ Loads, 𝑝
a body whose dimensions are considered to be near zero, so we may analyze it as a

-1-|Page VINCENTGARRIDO ES21–STATICSOFRIGIDBODIES

COLLEGE OF ENGINEERING CIVIL ENGINEERING DEPARTMENT MODULE 1: Introduction, Forces and its
projections

Example: A coordinate system when studying earth satellites.

Line Load, 𝑤𝑜 = 𝑊/𝐿

PRINCIPLE OF TRANSMISSIBILITY
States that the force may be applied at any point on its given line of action without
𝑊 = 𝐹𝑅 = ∫𝑤𝑜 (𝑥)𝑑𝑥
altering the resultant effects of the force external to the rigid body on which it acts.

𝐹𝑅 = 𝑟𝑒𝑠𝑢𝑙𝑡𝑎𝑛𝑡 𝑜𝑓 𝑎 𝑙𝑖𝑛𝑒 𝑙𝑜𝑎𝑑 Two forces F and P are equivalent if they have the same magnitude and direction
and the same line of action, even if they act at different points.

NEWTON’S LAW
I) Law of Inertia
A particle remains at rest or continues to move with a uniform motion (in a
straight line with a constant speed) if there is no unbalanced force acting on
it.
II) Law of Acceleration
The acceleration of the particle is proportional to the vector sum of forces A force may be moved anywhere along its line of action without changing its

𝑭 = 𝒎𝒂
acting on it, and is in the direction of this vector sum. external effects on a rigid body.

INTERNAL AND EXTERNAL FORCE

EXTERNAL FORCES
External Forces are those forces applied externally to the body.
III) Law of Equilibrium Such as:
For every action, there is an equal and opposite direction; that is, the Gravity loads – live and dead loads
forces of interaction between two particles are equal in magnitude and Dead loads
oppositely directed along the same line of action. Weight of the body or weight of the materials.
Live loads
Moving loads – a load that attaches to the structure temporarily.
It could be the occupancies of the building, like chairs, tables, or a person.
Other environmental
Loads such as earthquake loads and wind loads

INERTIAL REFERENCE FRAME

The inertial reference frame is defined as any rigid coordinate system in which
Newton’s laws of particle motion relative to that frame are valid with an acceptable
degree of accuracy.

-2-|Page VINCENTGARRIDO ES21–STATICSOFRIGIDBODIES

COLLEGE OF ENGINEERING CIVIL ENGINEERING DEPARTMENT MODULE 1: Introduction, Forces and its
projections

INTERNAL FORCE concentrated at a point with negligible loss of accuracy. Force can be distributed
Internal Forces are forces acting internally in the body, and they are the internal over an area, as in the case of mechanical contact, over a volume when a body
reactions caused by external forces. force such as weight is acting, or over a line, as in the case of the weight of a
suspended cable.

ANOTHER EXAMPLE OF DISTRIBUTED FORCES:

Floor loads are the best example of distributed loads or distributed force. The weight
of the floor will act as a pressure load. A group of students in a classroom is a
pressure load (external load) applied to the floor or slab. A wall is a line load applied
to the beams or wall footings.

Line Load

Distributed pressure load

FORCE CLASSIFICATION
Forces are classified as either contact or body contact. A contact force is
produced by direct physical contact; an example is the force exerted on a body
by a supporting surface. On the other hand, a body force is generated by virtue of
the position of a body within a force field, such as a gravitational effect. An
example of a body force is a person’s weight.
Forces may be further classified as either concentrated or distributed.
Every contact force is actually applied over a finite area and is, therefore, really a
distributed force. However, when the dimensions of the area are very small
compared with the other dimensions of the body, we may consider the force to be
-3-|Page VINCENTGARRIDO ES21–STATICSOFRIGIDBODIES
COLLEGE OF ENGINEERING CIVIL ENGINEERING DEPARTMENT MODULE 1: Introduction, Forces and its
projections

Vector quantity 𝑉 is presented by a line segment (see figure), with the direction
Wind Load Pressure Floor Load Pressure CONVENTIONS FOR EQUATIONS AND DIAGRAMS

of the vector and an arrowhead to indicate the sense (positive and negative). The

magnitude |𝑉| of the vector.

length of the directed line segment represents to some convenient scale, the

The direction of a vector may be measured by an angle 𝜃 from some known

reference direction as shown in the figure. The negative of 𝑉 is a vector 𝑉
having the same magnitude but directed in the sense of opposite to 𝑉.

Concentrated or Point Load

MATHEMATICAL OPERATION FOR VECTORS

MULTIPLICATION AND DIVISION OF A VECTOR BY A SCALAR
If a vector is multiplied by a positive magnitude is increased by that amount.
Multiplying by a negative scalar will also change the directional sense of the vector.

SCALAR AND VECTOR QUANTITIES

SCALAR
Scalar is any positive or negative quantity that can be completely specified by its ADDITION AND SUBTRACTION OF VECTORS
magnitude. A quantity that has magnitude only. VECTOR ADDITION
Example) speed, mass, time, length. Vectors also obey the parallelogram law of combination. This law states that two

equivalent vector. Consider the figure shown: two vectors 𝑃 and 𝑄 are added to
VECTORS vectors or more may be treated as free vectors and may be replaced by their

form an equivalent resultant 𝐹

Vector possesses magnitude and direction. A physical quantity that requires both
magnitude and direction.
Example) Force, weight, velocity, acceleration

-4-|Page VINCENTGARRIDO ES21–STATICSOFRIGIDBODIES

COLLEGE OF ENGINEERING CIVIL ENGINEERING DEPARTMENT MODULE 1: Introduction, Forces and its
projections

FORCE VECTOR
Cartesian Vector
𝐹⃑ = 𝐹𝜆 = 𝐹( 𝜆𝑥𝑖 + 𝜆𝑦𝑗 + 𝜆𝑧𝑘)

𝐹̅ = 𝐹𝑥 𝑖 + 𝐹𝑦 𝑗 + 𝐹𝑧𝑘

𝑭=𝑷+𝑸 Magnitude of a Force Vector, F

The Magnitude of the force is defined
For some instance, if two vectors A and B are Collinear and both have the same line as the resultant of the components of

𝑅=𝐴+𝐵
of action, the parallelogram law reduces to an algebraic or scalar addition the force vector.

A case where the line of action of force F is determined by the two points M and N.
VECTOR SUBTRACTION We can calculate the components of F and its direction cosines from the vector MN.
𝐹⃑ = 𝐹𝜆 = 𝐹( 𝜆𝑥𝑖 + 𝜆𝑦𝑗
Vector subtraction is the Special case of addition. For instance, if vector B in the

+ 𝜆𝑧𝑘)
figure has a negative sense of direction, then that vector must be subtracted from
that of positive vectors.
Where:

𝑅 = 𝐴 + (−𝐵) = 𝐴 − 𝐵 𝑑

-5-|Page VINCENTGARRIDO ES21–STATICSOFRIGIDBODIES

COLLEGE OF ENGINEERING CIVIL ENGINEERING DEPARTMENT MODULE 1: Introduction, Forces and its
projections

The magnitude of unit vector

UNIT VECTOR, 𝝀
A unit vector is a dimensionless vector with a magnitude 1.0

Note: A unit vector can also be

defined using force vector or by force
components.

DIRECTION COSINE/ COORDINATE DIRECTION ANGLE

Direction cosine is useful in determining directions when dealing with either two or
three– dimensional or space vectors.

-6-|Page VINCENTGARRIDO ES21–STATICSOFRIGIDBODIES

COLLEGE OF ENGINEERING CIVIL ENGINEERING DEPARTMENT MODULE 1: Introduction, Forces and its
projections

𝑑 = √(𝑥2 − 𝑥1)2 + (𝑦2 − 𝑦1 )2 + (𝑧2

GENERAL EQUATION FOR POSITION VECTOR

− 𝑧1)2

RECTANGULAR COMPONENTS OF 3D FORCE SYSTEM

Consider the figure shown: the position vector from point A to point B
𝑟𝐴 + 𝑟⃑ = 𝑟𝐵
𝑟⃑ = 𝑟𝐵/𝐴 = 𝑟⃑𝐴𝐵 = 𝑟𝐵 − 𝑟𝐴

By head-to-tail addition
𝑟⃑ = (𝑥𝐵𝑖 + 𝑦𝐵 𝑗 + 𝑧𝐵𝑘) − (𝑥𝐴𝑖
+ 𝑦𝐴𝑗 + 𝑧𝐴𝑘) ⃑𝒓⃑𝑨𝑩 = (𝒙𝑩 − 𝒙𝑨)𝒊
+ (𝒚𝑩 − 𝒚𝑨)𝒋 + (𝒛𝑩 − 𝒛𝑨)𝒌
Figure (a) Figure (b)
Where:
𝑟𝑥 = 𝑥𝐵 − 𝑥𝐴 𝑟𝑦 = 𝑦𝐵 − 𝑦𝐴
Consider figure shown (a) and (b)

𝑟𝑧 = 𝑧𝐵 − 𝑧𝐴
From figure (a):

scalar force 𝐹 can be projected into its component using direction cosine as follows:
Considering i, j and k as the positive direction as shown, then the components of
Magnitude of the position Vector define the distance between point A and point B.
𝐹𝑥 = 𝐹𝑐𝑜𝑠(𝜃𝑥 ) 𝐹⃑ = 𝐹𝜆 = 𝐹(𝑐𝑜𝑠𝜃𝑥 𝑖 + 𝑐𝑜𝑠𝜃𝑦𝑗 +
𝑐𝑜𝑠𝜃𝑧𝑘
𝟐
𝒓𝑨𝑩 = |⃑𝒓⃑𝑨𝑩 | = √(𝒓𝒙)𝟐 + (𝒓𝒚) + (𝒓𝒛)𝟐
𝐹𝑦 = 𝐹𝑐𝑜𝑠(𝜃𝑦 ) 𝐹⃑ = 𝐹𝜆 = 𝐹(𝜆𝑥𝑖 + 𝜆𝑦𝑗 + 𝜆𝑧𝑘)

Recall: Distance Formula from Analytic Algebra

-7-|Page VINCENTGARRIDO ES21–STATICSOFRIGIDBODIES
COLLEGE OF ENGINEERING CIVIL ENGINEERING DEPARTMENT MODULE 1: Introduction, Forces and its
projections

𝐹𝑧 = 𝐹𝑐𝑜𝑠(𝜃𝑧) 𝜆
= 𝑢𝑛𝑖𝑡 𝑣𝑒𝑐𝑡𝑜𝑟 = 1.0 The Dot Product of two vectors 𝑷 and 𝑸 is defined as the product of their
DOT PRODUCT

In Figure (b), the force 𝐹 components can also be expressed as follows: magnitude times the cosine of the angle 𝜶 between them. It is written as
𝐹𝑥 = 𝐹𝑥𝑦 𝑐𝑜𝑠(𝜃) ,
𝐹𝑦 = 𝐹𝑥𝑦𝑠𝑖𝑛(𝜃) = 𝐹 𝑐𝑜𝑠(𝜙)𝑠𝑖𝑛(𝜃) ,
𝐹𝑧 = 𝐹𝑠𝑖𝑛(𝜙)
𝐹𝑥𝑦 = 𝐹𝑐𝑜𝑠(𝜙)

The 𝐹𝑥𝑦
forces 𝐹𝑥 𝑎𝑛𝑑 𝐹𝑦 . By adding these two vectors:
value is the resultant of two vector

𝐹𝑥𝑦 = √(𝐹𝑥 )2 + (𝐹𝑦𝑗)

⃑𝑷⃑⃑ ∙ ⃑𝑸⃑⃑ = 𝑷𝑸𝒄𝒐𝒔(𝜶)

In more general terms, if 𝒏 is a unit vector in a specified direction, the projection of

𝑭 in the 𝑛 −direction, see figure (b), has the magnitude of 𝐹𝑛 = 𝐹 ∙ 𝑛 .
If we want to express the projection in the 𝑛 −direction as a vector quantity,
EXAMPLE

then we multiply its scalar component, expressed by 𝑭 ∙ 𝒏 by the unit vector to

Determine the force x and y components

give 𝐹𝑛 = (𝐹 ∙ 𝑛 )𝑛.

𝐹𝑛 = 𝐹 ∙ 𝑛𝑛
we may write this as

Without ambiguity because the term 𝒏𝒏 is not defined, and so the complete
expression cannot be misinterpreted as 𝐹 ∙ (𝑛𝑛).

If the direction cosine of 𝒏 are 𝛼, 𝛽, 𝑎𝑛𝑑 𝛾 , then we may write n in vector

𝒏 = 𝛼𝒊 + 𝛽𝒋 + 𝛾𝒌
component form like any other vector as

In this case, its magnitude is in unity. If the direction cosine of 𝑭 with respect to the
reference axis 𝑥 − 𝑦 − 𝑧 are 𝑝, 𝑞 and 𝑟, then the projection of 𝑭 in the 𝒏 −

𝐹𝑛 = 𝐹 ∙ 𝑛 = 𝐹 (𝑝𝒊 + 𝑞𝒋 + 𝑐𝒌) ∙ ( 𝛼𝒊
direction becomes

+ 𝛽𝒋 + 𝛾𝒌)

-8-|Page VINCENTGARRIDO ES21–STATICSOFRIGIDBODIES

COLLEGE OF ENGINEERING CIVIL ENGINEERING DEPARTMENT MODULE 1: Introduction, Forces and its
projections

𝐹𝑛 = 𝐹 ( 𝑝𝛼 + 𝑞𝛽 + 𝑟 𝛾 )
𝒊 ∙ 𝒊 = 𝒋 ∙ 𝒋 = 𝒌 ∙ 𝒌 = 1.0
𝒊∙𝒋=𝒋∙𝒊=𝒊∙𝒌=𝒌∙𝒊=𝒋∙𝒌=𝒌∙𝒋
= 1.0

ANGLE BETWEEN TWO VECTORS

If the angle between the force 𝑭 and the direction specified by the unit vector 𝒏 is 𝜽
EXAMPLE 2 Components of force in 2D problem

𝐹 ∙ 𝑛 = 𝐹𝑛𝑐𝑜𝑠 (𝜃)
, then, from the dot-product definition, we have

Wh

𝑛=
ere:

|𝑛|
=
1.0
Then, the angle between F and n is given by
The components of 800 N force exerted on bolt A.

In general, the angle between any two vectors 𝑷 and 𝑸 is

The negative sign indicates its sense, meaning the negative direction of the x-axis.

If a force F is perpendicular to a line whose direction is specified by the unit vector 𝑛,

then cos(𝜃) = 0 , and 𝐹 ∙ 𝑛 = 0 .

case with scalar multiplication, where (𝐴)(𝐵) = 0 requires that either 𝐴 or 𝐵 (or
Note that this relationship does not mean that either F or n is zero, as would be the We can also write the force vector of 800N as
𝐹⃑ = [ −519.558 𝑖 + 418
𝑗 ] 𝑁
both) be zero.

Figure (c)
EXAMPLE 3 Components of force in 2D problem
The Dot-Product relationship applies to
A man pulls with a force of 300 N on a rope attached to a building, as shown in Fig.
nonintersecting vectors as well as to intersecting
(a). What are the horizontal and vertical components of the force exerted by the rope
vectors P and Q in the figure (c) is 𝑄 times the
vectors. Thus, the dot product of the nonintersecting
at point A?
projection of 𝑃’ on 𝑄 , or 𝑃’𝑄𝑐𝑜𝑠𝛼 = 𝑃𝑄𝑐𝑜𝑠𝛼
because 𝑃’ and 𝑃 are the same when treated as a
free vector.
-9-|Page VINCENTGARRIDO ES21–STATICSOFRIGIDBODIES
COLLEGE OF ENGINEERING CIVIL ENGINEERING DEPARTMENT MODULE 1: Introduction, Forces and its
projections

𝑅2 = 𝑃2 + 𝑄2 − 2𝑃𝑄𝑐𝑜𝑠 (55 + 70)

𝑅2 = (75)2 + (125)2 + 2(75)
(125)𝑐𝑜𝑠 (55 + 70)

𝑅 = 178.898 𝑁 𝜃 = 75.08°
Scalar Form

𝑅 = [ 46.046𝑖 − 172.871𝑗 ] 𝑁
Vector Form

The 𝑖, 𝑗 and 𝑘 notations represent the direction and components of the

vectors.

EXAMPLE 4 (Addition of force vectors and the resultant)

Four forces act on bolt A, as shown. Determine the resultant of the forces on the
bolt.
Components of each vector force.

+→ 𝐹𝑥 𝑎𝑛𝑑 +↑ 𝐹𝑦
𝑃 = 75 𝑁 and 𝑄 = 125 𝑁, determine graphically the
EXAMPLE 4 Two forces P and Q are applied as shown at point A of a hook support.
Setting
𝐹1𝑥 = 150 cos 30 𝐹1𝑦
Knowing that

= 150 sin30
magnitude and direction of their resultant using the triangle rule.

𝐹2𝑥 = −80 sin20 𝐹2𝑦 = 80

cos 20
𝐹3𝑥 = 0 𝐹3𝑦 =
110
𝐹4𝑥 = 100 cos15 𝐹4𝑦
= −110 sin15
𝑅𝑥 = ∑ 𝐹𝑥 = 206.167 𝑁

𝑅𝑦 = ∑ 𝐹𝑦 = 10.839 𝑁

By cosine law:
Another Solution:

- 10 - | P a g e VINCENTGARRIDO ES21–STATICSOFRIGIDBODIES
COLLEGE OF ENGINEERING CIVIL ENGINEERING DEPARTMENT MODULE 1: Introduction, Forces and its
projections

𝐹1𝑥 = 150 cos 30 𝐹1𝑦 = 150 cos

300
𝐹2𝑥 = 80 sin110 𝐹1𝑦 = 80 cos 20
𝐹3𝑥 = 110 cos 270 𝐹3𝑦 = 110 cos
180
EXAMPLE 6. A force F with a magnitude of 100 N is applied at the origin O of
the axis x-y-z, as shown. The line of action of F passes through point
𝐹4𝑥 = 100 cos15 𝐹4𝑦 = 110 A, whose coordinates are 3m, 4m, and 5m.
cos255
𝐹𝑥𝑦 𝑜𝑓 𝐹 on the x-y plane, and (c) the projection 𝐹𝑂𝐶 𝑜𝑓 𝐹 along the line
Determine (a) the x, y, and z scalar components of F. (b) the projection

𝑅𝑥 = ∑ 𝐹𝑥 = 206.167 𝑁 OB.

𝑅𝑦 = ∑ 𝐹𝑦 = 10.839 𝑁
𝐹𝑥 = 42.426 𝑁 𝐹𝑦 = 56.569 𝑁
Components of Force F=100N

EXAMPLE 5. (3D problems) 𝐹𝑧 = 70.711 𝑁

Determine (a) the x, y, and z
Projection of force 𝑭 in xy-plane
components of the 500-N and 800 N

√
force, (b) the resultant of the two
forces, (c) the angles θx, θy, and θz

Projection of force 𝑭 in OB-direction

that the resultant forms with the

𝐹𝑂𝐵 = 84.217 𝑁 ← 𝐴𝑛𝑠𝑤𝑒𝑟

coordinate axes.

EXAMPLE 7. The shear leg derrick is used to haul the 200-kg net of fish onto the dock. EXAMPLE 9. Determine the
components of F that act along rod AC and perpendicular to it.
Determine the angle between cable BD and leg BA. Point B is located 3 m along the rod from end C.

- 11 - | P a g e VINCENTGARRIDO ES21–STATICSOFRIGIDBODIES
COLLEGE OF ENGINEERING CIVIL ENGINEERING DEPARTMENT MODULE 1: Introduction, Forces and its
projections

EXAMPLE 8. Determine the magnitude of the projected component of the force F =

{400i -
200j + 500k} N acting along the cable CA.
- 12 - | P a g e VINCENTGARRIDO ES21–STATICSOFRIGIDBODIES
COLLEGE OF ENGINEERING CIVIL ENGINEERING DEPARTMENT MODULE 1: Introduction, Forces and its
projections

- 13 - | P a g e VINCENTGARRIDO ES21–STATICSOFRIGIDBODIES