Ch04.

Force system resultants

Applications

Beams are often used to bridge Carpenters often use a hammer in

gaps in walls. We have to know this way to pull a stubborn nail.
what the effect of the force on Through what sort of action does
the beam will have on the the force FH at the handle pull the
supports of the beam. What do nail? How can you mathematically
you think is happening at points model the effect of force FH at
A and B? point O?
 4.1 Moment of a Force – Scalar Formation
The tendency to rotate is called the moment of a
force or simply the moment (or a torque)
The larger the force or the longer the moment
arm, the greater the moment or turning effect.
No turning can occur
 ≠ 90, d′ = sin smaller than d difficult to
turn the bolt

The moment MO about point O, or about an

axis passing through O and perpendicular to the
plane, is a vector quantity.
Moment MO has its specified magnitude and
direction
Magnitude M O  Fd Unit: N  m。
d: the moment arm or perpendicular distance。
Direction
Defined by its moment axis, which is
perpendicular to the plane that contains the
force F and its moment arm d.
Resultant
moment
Positive moments: counterclockwise
Negative moments: clockwise

 M R O  F1d1  F2 d 2  F3 d3
Ex.4.1：Determine the moment of the force about point O
 Fy F

b a
Fx
M O  Fy a  Fx b
O

Ex.4.2：determine the resultant moment of the four forces acting on the

rod about point O
F1
F2

F3

F4
 4.2 Cross Product
The Cross product of two vector A and B yields the vector C which is
written as C  A  B  AB cos  θ (0˚≤ θ ≤ 180˚)
Read as C equal to A cross B
Right-hand rule: Curling the fingers from A to B; The
thumb points the direction C
C  A  B  ( AB sin  )uC Unit vector uC :
the direction of C
Law of operations
Commutative law A  B = B  A
Associative law
a( A  B)  (aA)  B  A  (aB)  ( A  B)a

Distributive Law
A  (B  D)  ( A  B)  ( A  D)
Cartesian Vector Formulation
Use C = AB sinθ on pair of Cartesian unit +k
vectors, example j  j = k ；
For i  j = ( i )( j )(sin 90°)= (1)(1)(1) = 1
Thus, i  j = (1) k

In a similar manner,

Use the circle for the results. Crossing

counterclockwise yield positive and clockwise
yields negative results.
Consider cross product of vector A and B
       
  
A  B  Ax i  Ay j  Az k  Bx i  By j  Bz k 
     
 Ax i  Bx i  Ax i  By j  Ax i  Bz k
     
 Ay j  Bx i  Ay j  By j  Ay j  Bz k
     
 Az k  Bx i  Az k  By j  Az k  Bz k
  
 ( Ay Bz  Az By )i  ( Ax Bz  Az Bx ) j  ( Ax By  Ay Bx )k

A  B  ( Ay B z  Az By )i  ( Ax Bz  Az Bx ) j  ( Ax By  Ay Bx )k
 For element i
In determinant form
i j k

 Ax Ay Az  ( Ay Bz  Az By )i
Bx By Bz

For element j
i j k

 Ax Ay Az  ( Ax Bz  Az Bx ) j
Bx By Bz

For element k
i j k

 Ax Ay Az  ( Ax By  Ay Bx )k
Bx By Bz
 4.3 Moment of a Force - Vector Formulation
Moment of force F about point O can be
expressed using cross product
  
M O  r  F r: position vector from O to any
point on the line of action of F

Magnitude M O  Fd  Fr sin 

θ: the angle measured between

tails of r and F

d  r sin  r: a sliding vector

Direction: determined by right-hand rule
- Extend r to the dashed position MO
- Curl fingers from r towards F
- Direction of MO is the same as the direction
of the thumb
Maintain proper order of r  F since
cross product is not commutative

Principle of Transmissibility
      
M O  r1  F  r2  F  r3  F
 F can be applied at any point,
creating the same moment about O
 F can be considered a sliding
vector.
Vector r and force F expressed in
Cartesian vectors
  
i j k
  
M O  r  F  rx ry rz
Fx Fy Fz
  
 (ry Fz  rz Fy )i  (rx Fz  rz Fx ) j  ( rx Fy  ry Fx ) k

rx, ry , rz :represent the x, y, z components of the

position vector. Fx, Fy , Fz :represent that of the

Resultant Moment of a System of Forces:

Resultant moment of the forces about point O can
be determined by vector addition of the moment
of each force  
 M R O  r F  
 4.4 Principles of Moments
Varignon’s Theorem
The moment of a force about a point is
equal to the sum of the moments of the
components of the force about the point

M O  Fx y  Fy x

This method is easier than

MO = Fd
Ex. 4.3：Determine the moment produced by the force F about point O,
express in Cartesian vector.
    
Position vector rA  12k rB  4i  12 j
     
rAB  rB  rA  4i  12 j  12k

 r 4i  12 j  12k
u
Unit vector AB  AB

A(0,0,12) rAB 42  122  (12)2
  
 0.23i  0.68 j  0.68k 
   
Force vector F  Fu AB  2(0.23i  0.68 j  0.68k )
  
 0.46i  1.38 j  1.38k
  
Moment M O  rA  F
B(4,12, 0)
i j k
    
M O  rA  F  0 0 12  16.5i  5.5 j
0.46 1.38 1.38  N  m
Ex.4.4：Determine the resultant moment they create about the flange at
O, express in Cartesian vector.
Ex. 4.5：Determine the moment of force about point O.

 5  3sin 75
 4.5 Moment of a Force about a Specified Axis
Sometimes, a specified axis must be
determined
The force applied to the wrench will
create a tendency to rotate the nut about
the moment axis passing though O. The
nut can only rotate about the y axis
only the y component of the moment is
needed
Scalar Analysis The moment of F about the y axis
M a  Fd a
M y  Fd y  Fd cos 

Right-hand rule: My is directed along

the positive y axis.
Moment axis
 Vector analysis
The moment of F about O on the axis a
  
M a  ua  ( r  F )
  
or M y  j  (r  F )
  
M a  ua  ( r  F )   
i j k ua x ua y ua z
  
 
 uax i  ua y j  uaz k . rx ry rz  rx ry rz
Fx Fy Fz Fx Fy Fz
 uax  ry Fz  rz Fy   ua y  rx Fz  rz Fx   uaz  rx Fy  ry Fx 

The sign of the scalar indicates the sense of

direction Ma along the a axis.
 Ma : positive – the same sense as ua
 Ma : negative – Ma will act opposite to ua
Ex.4.7：determine the resultant moment of three force about the x, y ,
and z axis.
M x  Fd x  F1d x1  F2 d x2  F3 d x3
 60  0.6  50  0.6  0
 66N  m
Direction: positive x axis
M y  Fd y  F1d y1  F2 d y2  F3 d y3
 0  50  0.9  40  0.6
 69N  m
Direction: negative y axis
M z  Fd z  F1d z1  F2 d z2  F3 d z3
 0  0  40  0.6
 24N  m
Direction: negative z axis
Ex. 4.8：Determine the moment produced by the force F which tends to
rotate about the AB axis
Ex. 4.9：Determine the magnitude of the moment of force F about
segment OA of the pipe system
 4.6 Moment of a Couple
A couple: two parallel forces, same
magnitude, opposite directions,
separated by a perpendicular distance
d, resultant force is zero.
The moment produced by a coupled
called couple moment.
Position vectors rA and rA are directed from O to
A and B, lying on the line of action of F & –F.
Couple moment about O
       
M  rB  F  rA   F  (rB  rA )  F
  
 M  r F
Scalar Formulation
Magnitude of coupler moment M M  Fd

Direction and sense are determined by right

hand rule. In all cases, M acts perpendicular to
plane containing these forces.

Vector Formulation
  
Magnitude of coupler moment M M  rF
If moments are taken about point A, the moment
of –F is zero about this point. r is crossed with
the force F to which it is directed
Equivalent
couples
M  Fd M  Fd
 30  0.4  40  0.3
 12N  m  12N  m

Resultant Couple Moment

Since Couple moments are free vectors, their
resultant can be determined by vector addition.

M R  M1  M 2
   
M R   M i  ( r  F )
Ex.4.10：Determine the resultant couple moment of the couples acting
on the plate.
   
M R   M i  (r  F )
  
 M1  M 2  M 3
 F1d1  F2 d 2  F3 d3
 200  1.2  450  0.9  300  1.5
 285N  m
Clockwise direction
Ex.4.11：Determine the magnitude and direction
of the couple moment acting on the gear
600sin 30    
M R   M i  (r  F )
 
 M x  M y  Fx d x  Fy d y
d 600 cos 30
 600 cos 30 0.2  600sin 30 0.2
600 cos 30
600sin 30
 43.9N  m
Ex. 4.12：Detemine the couple moment acting on the pipe.
EX. 4.13：Replace the two couples acting on the pipe by a resultant
moment.
M2

M1
 4.7 Simplification of a Force and Couple System

To reduce a system of forces and couple moments to a simpler form

by replacing it with an equivalent system.
An equivalent system is when the external effects are the same as
those caused by the original force and couple moment system.
Principle of transmissibility

Subjected to the Attach F and F to B -F at B and F at A will

force F at point A cancer each other,
leaving only F at B.

A force acting on a body (stick) is a sliding vector since it can be

applied at any point along its line of action.
F not on the line of Attach F and - F to B A download force F
action of the force - The couple moment: and clockwise couple
perpendicular M=Fd moment M

The for F can be moved from A to B provided a couple moments M is

added to maintain an equivalent system.

M is a free vector, it can act at any point on the stick.

System of forces and couple moments
F1 can be moved to point O provided a couple
moment (MO)1 = r1  F1 is added to the body.
F2 can be moved to point O provided a couple
moment (MO)2 = r2  F2 is added to the body.

The couple moment M is a free vector, it can

just be moved to point O.
  
Resultant force FR  F1  F2
   
Resultant couple
moments
  
( M R )O  M  M O  M O
1
2
 
If the force system lies in ( FR ) x   Fx
the x-y plane and any  
( FR ) y   Fy
couple moments are
  
perpendicular to this plane ( M R )O   M O   M
Ex 4.14：Replace the force and couple system by an equivalent resultant
force and couple moment acting at point O
 
3sin 30  ( F )   F  3cos 30  3  5
R x x
5
 5.59kN
3cos 30  
3  ( FR ) y   Fy
5 4
5  3sin 30   5  4
5
 6.5kN
4 
5
5  FR  5.59 2
 6.5 2
 8.58kN
 6.5 
   tan 1    49.3
 5.59 
 
 ( M R )O   M O
 3sin 30 0.2 3cos 30 0.1
3 4
  5  0.1   5  0.5 4  0.2
5 5
 2.46kN  m
Ex. 4.15：replace the force and couple system acting on the member by
an equivalent resultant force and couple moment acting at point O.
Ex. 4.16： Replace the force and couple system acting on the member
by an equivalent resultant force and couple moment acting at point O.
 4.8 Further Simplification of a Force and Couple System
If FR and (MR)O are perpendicular : the force system can be further
reduced to an equivalent force.
Because of this condition, only concurrent, coplanar, and parallel force
systems can be further simplified.

Concurrent
Force System

A concurrent force system is one in The equivalent system can be

which the lines of action of all the forces replaced by a singe resultant
intersect at a common point O force FR = ∑F
Coplanar Force System

Lines of action of all (MR)O and FR: mutually

 (MR)O = FRd = ∑MO
the forces and perpendicular
Resultant force  d = (MR)O / FR
FR=∑F of this system
lie in the same plane
d: moment arm distance
Parallel Force System

Forces and resultant (MR)O : along axis a; (MR)O = FRd = ∑Mo

force FR=∑F at point O FR: perpendicular to
are all parallel to the z d = (MR)O / FR
axis b
axis
Reduction to a Wrench

3-D force and couple Move FR to P , M┴ can Combination of FR and

moment system have an be replaced. M║ will tend to
equivalent resultant force M║ is a free vector, it translate and rotate the
FR acting at point O and can be moved to P body about its axis: as
resultant couple moment a wrench or screw
(MR)O not perpendicular
to one another. (MR)O
resolve into M┴ and M║
Ex. 4.17：Replace the force and couple moment system acting on the
beam by an equivalent resultant force. Find distance d measured from O.
 
 ( F )   F  3  8  4.8kN
4 R x x
8 5
5   4
3
8
 ( FR ) y   Fy   8  4  2.4kN
5
5 
 FR  4.82  2.42  5.37kN
 2.4 
   tan 1    26.6
 4.8 
d  
 ( M R )O   M O
4
( FR ) y  d  4  1.5   8  4.5
5
3
  8  0.5 15
5
 d  2.25m
Ex. 4.19：Determine the magnitude and direction of a resultant force
equivalent to the given force system, and locate its point on the slab.


FR  1400 N
Ex. 4.20：replace the force system by an equivalent resultant force and
specify its point of application on the pedestal.
 
 FR   Fy  10  50  30  70kN
 
FR  70kN
 70k
 
( M R )O   M O
rP
y x rP  FR  rA  FA  rB  FB  rC  FC
    
       
xi  yj  70k  0.4i  30k
    
       
 0.4i  0.2 j  50k  0.4 j  10k
     
70 xj  70 yi  12 j 4i 20 j  10i
   
70 xj  70 yi  8 j  14i
 70 x  8  x  0.11m
 70 y  14  y  0.2m
 4.9 Reduction of a Simple Distributed Loading

Distributed loadings

A body may be subjected to a loading that is distributed over its

surface. The pressure exerted at each point on the surface indicates the
intensity of the loading.

Unit: pascals Pa (or N / m2)

 Loading Along a Single Axis

A constant width b and Only one variable x, Replace coplanar

is subjected to a Coplanar distributed parallel force system
pressure loading that load, w(x=p(x))b with a single
varies only along the x N/m equivalent resultant
axis p = p(x) N/m2 force FR
Magnitude of Resultant Force
Magnitude of dF is determined from
differential area dA under the loading curve.

  FR   F  FR   L
w( x) dx   A
dA  A

Magnitude of the resultant force is equal to the

total area A under the loading diagram.
Location of Resultant Force
dF produces a moment of xdF = x w(x) dx
about O. For the entire length,
   x dA
 ( M R )O   M O   xFR    L
xw  x dx x A

 dA
A
Ex. 4.21： determine the magnitude and location of the equivalent
resultant force

Magnitude of resultant force

3 2
2 x
FR   dA   60 x dx  60  160N
2
A 0 3 0

Location of Resultant Force

x
 A


xdA
A
xdA


A
x  60 x 2 dx

 dA 160
A
4 2
160
x
60
4
 0
 1.5m
160
Ex. 4.22：determine the magnitude and location of the equivalent
resultant force

w  p ( x)  b  800 x  0.2  160 x N

x  9  w  1440 N / m

Magnitude of resultant force

FR  A   9  1440  / 2  6480N

Location of Resultant Force

2
x   9  6m
3
Ex. 4.23： determine the magnitude and location of the equivalent
resultant force