eventh

dition

CHAPTER
VECTOR MECHANICS FOR ENGINEERS:

3
STATICS

Static of Rigid Bodies:

1. Equivalent Systems
of Forces
2. Equilibrium of Rigid
Bodies
eventh
dition
Static of Rigid Bodies: Equivalent Systems of Forces
Contents
Equivalent Systems of Forces
External and Internal Forces
Principle of Transmissibility: Equivalent Forces
Vector Products of Two Vectors and Rectangular
Components
Moment of a Force About an Axis
Varigon’s Theorem
Scalar Product of Two Vectors
Moment of a Couple
Equivalent and Addition of Couples
Resolution involving Point, Force and Couple
Coplanar Force-reduction, Resultant and Equivalent
Systems
eventh
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•
•
•
•
•

We are going to study how to replace a system of forces
exerted on a rigid body with a simpler equivalent system:
– moment of a force about a point
– moment of a force about an axis
– moment due to a couple
•
eventh
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Static of Rigid Bodies: Equivalent Systems of Forces
External and Internal Forces
•Forces acting on rigid bodies are divided into two
groups:
-External forces
-Internal forces
•External force- action of
other bodies on the rigid
body. It is of following two
type: traction force, point
force, body force
•Internal force- force which
hold the particles to form
rigid body.
•External forces are shown
in a free-body diagram.
•Each external force can
make it move or remain
at rest.
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Static of Rigid Bodies: Equivalent Systems of Forces
Principle of Transmissibility: Equivalent Forces
•Principle of Transmissibility -
Conditions of equilibrium or
motion are not affected by
transmitting a force along its
line of action.

•Moving the point of

application of the force F to
the rear bumper does not
affect the motion or the
other forces acting on the
truck.
•Principle of transmissibility
may not always apply in
determining internal forces
and deformations.
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Static of Rigid Bodies: Equivalent Systems of Forces
Moment of a Force About a Point
•The moment of F about O is defined as
MO = r × F
•The moment vector MO is perpendicular
to the plane containing O and the force
F.

•Magnitude of MO measures the tendency of

the force to cause rotation of the body
about an axis along MO.

•Denoting by θ the angle between the lines

of action of the position vector r and the
force F, the magnitude of the moment of F
is
M O = rF sin θ = Fd
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Static of Rigid Bodies: Equivalent Systems of Forces
Moment of a Force About a Point
•Two-dimensional structures with negligible
depth and are subjected to forces contained
in the plane of the structure. Their analysis is
simpler than the 3D structure.
•The plane of the structure contains the point O
and the force F. MO, the moment of the force
about O is perpendicular to the plane.
•If the force tends to rotate the structure
counterclockwise, the sense of the moment
vector is out of the plane of the structure
and the magnitude of the moment is
positive.
•If the force tends to rotate the structure
clockwise, the sense of the moment vector is
into the plane of the structure and the
magnitude of the moment is negative.
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Static of Rigid Bodies: Equivalent Systems of Forces
Rectangular Components of the Moment of a Force

The moment of F about O,

M O = r × F, r = xi + yj + zk
F = Fx i + Fy j + Fz k

M O = M xi + M y j + M zk

i j k
= x y z
Fx Fy Fz

= ( yFz − zFy ) i + ( zFx − xFz ) j + ( xFy − yFx ) k

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Static of Rigid Bodies: Equivalent Systems of Forces
Rectangular Components of the Moment of a Force
For two-dimensional structures,

M O = ( xFy − yFx ) k
MO = MZ
= xFy − yFx

[
M B = ( x A − xB ) Fy − ( y A − y B ) Fx k ]
Mz = MB
= ( x A − xB ) Fy − ( y A − y B ) Fx
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Static of Rigid Bodies: Equivalent Systems of Forces
Rectangular Components of the Moment of a Force

The moment of F about B,

M B = rA / B × F

rA / B = rA − rB
= ( x A − xB ) i + ( y A − y B ) j + ( z A − z B ) k
F = Fx i + Fy j + Fz k

i j k
M B = ( x A − xB ) ( y A − yB ) ( z A − zB )
Fx Fy Fz
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Static of Rigid Bodies: Equivalent Systems of Forces
Moment of a Force About a Given Axis
•Moment MO of a force F applied at
the point A about a point O,
MO = r × F

•Scalar moment MOL about an axis OL

is the projection of the moment
vector MO onto the axis,
M OL = λ • M O = λ • ( r × F )

•Moments of F about the coordinate

axes,
M x = yFz − zFy
M y = zFx − xFz
M z = xFy − yFx
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Static of Rigid Bodies: Equivalent Systems of Forces
Moment of a Force About a Given Axis

•Moment of a force about an

arbitrary axis,
M BL = λ • M B
= λ • ( rA B × F )
rA B = rA − rB

λx λy λz
M BL = ( xA/ B ) ( yA/ B ) ( z A/ B )
Fx Fy Fz

•The result is independent of the

point B along the given axis.
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Static of Rigid Bodies: Equivalent Systems of Forces
Varignon’s Theorem
•The moment about a give point O of
the resultant of several concurrent
forces is equal to the sum of the
moments of the various moments
about the same point O.

r × ( F1 + F2 + ) = r × F1 + r × F2 + 
•Varigon’s Theorem makes it possible
to replace the direct determination
of the moment of a force F by the
moments of two or more
component forces of F.
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Static of Rigid Bodies: Equivalent Systems of Forces
Sample Problem 3.1

A 450N vertical force is applied to the end of

a lever which is attached to a shaft at O.
Determine:
0.6m a)The moment of the 450N force about O,
450N
b)horizontal force at A which creates the
same moment about O,
c)smallest force at A which produces the
same moment about O,
d)location for a 1100N vertical force to
produce the same moment about O,
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Static of Rigid Bodies: Equivalent Systems of Forces
Sample Problem 3.1
a) Moment about O is equal to the
product of the force and the
perpendicular distance between the line
0.6m of action of the force and O. Since the
450N force tends to rotate the lever
clockwise, the moment vector is into
the plane of the paper.

M O = Fd
d = ( 0.6m ) cos 60° = 0.3 m.
M O = ( 450 N )( 0.3 m.)

M O = 135 N ⋅ m
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Static of Rigid Bodies: Equivalent Systems of Forces
Sample Problem 3.1
b) Horizontal force at A that produces
the same moment,

0.6m
d = ( 0.6 m.) sin 60° = 0.52 m.
M O = Fd
135 N ⋅ m. = F ( 0.52 m.)
135 N ⋅ m.
F= F = 260 N
0.52 m.
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Static of Rigid Bodies: Equivalent Systems of Forces
Sample Problem 3.1
c) The smallest force A to produce the
same moment occurs when the
perpendicular distance is a maximum or
0.6m when F is perpendicular to OA.

M O = Fd
135 N ⋅ m. = F ( 0.6 m.)
135 N ⋅ m.
F=
0.6 m.

F = 225 N
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Static of Rigid Bodies: Equivalent Systems of Forces
Sample Problem 3.1

d) To determine the point of application

of a 1100N force to produce the same
moment,
1100N M O = Fd
135 N ⋅ m. = (1100 N ) d
135 N ⋅ m.
d= = 0.12 m.
1100 N
OB cos60° = 0.24 m.

OB = 0.24 m.
eventh
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Class work:

Two cables AC and BC are tied together at C and attached to the ceiling as
shown in fig. When a block of weight 175kg is hung through it determine
the tension in each cables.

B
A

500 300

175kg
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Static of Rigid Bodies: Equivalent Systems of Forces
Sample Problem 3.4

SOLUTION:
The moment MA of the force F
exerted by the wire is obtained
by evaluating
 the vector


product, M A = rC A × F

The rectangular plate is supported by

the brackets at A and B and by a wire
CD. Knowing that the tension in the
wire is 200 N, determine the moment
about A of the force exerted by the
wire at C.
eventh
dition
Static of Rigid Bodies: Equivalent Systems of Forces
Sample Problem 3.4
SOLUTION:
M A = rC A × F
rC A = rC − rA = ( 0.3 m ) i + ( 0.08 m ) j
rC D
F = Fλ = ( 200 N )
rC D
− ( 0.3 m ) i + ( 0.24 m ) j − ( 0.32 m ) k
= ( 200 N )
0.5 m
= −(120 N ) i + ( 96 N ) j − (128 N ) k

i j k
M A = 0 .3 0 0.08
− 120 96 − 128

M A = −( 7.68 N ⋅ m ) i + ( 28.8 N ⋅ m ) j + ( 28.8 N ⋅ m ) k

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Theory of couple:

Couple is defined as combination of

two equal and opposite forces
separated by certain distance.

Classification of Couple:
Clock wise couple: tendency to
rotate the body in clock wise
direction.
Anti- Clock wise couple:
tendency to rotate the body in an
eventh
dition
Static of Rigid Bodies: Equivalent Systems of Forces
Moment of a Couple
•Two forces F and -F having the same
magnitude, parallel lines of action, and
opposite sense are said to form a
couple.
•Moment of the couple,
M = rA × F + rB × ( − F )
= ( rA − rB ) × F
= r×F
M = rF sin θ = Fd
•The moment vector of the couple is
independent of the choice of the
origin of the coordinate axes, i.e., it
is a free vector that can be applied
at any point with the same effect.
eventh
dition
Static of Rigid Bodies: Equivalent Systems of Forces
Addition of Couples
•Consider two intersecting planes
P1 and P2 with each containing a
couple
M1 = r × F1 in plane P1
M 2 = r × F2 in plane P2
•Resultants of the vectors also
form a couple
M = r × R = r × ( F1 + F2 )
•By Varigon’s theorem
M = r × F1 + r × F2
= M1 + M 2
•Sum of two couples is also a couple
that is equal to the vector sum of the
two couples
eventh
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Static of Rigid Bodies: Equivalent Systems of Forces
Couples Can Be Represented by Vectors

•A couple can be represented by a vector with

magnitude and direction equal to the
moment of the couple.

•Couple vectors obey the law of addition of

vectors.
•Couple vectors are free vectors, i.e., the point
of application is not significant.
•Couple vectors may be resolved into
component vectors.
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Static of Rigid Bodies: Equivalent Systems of Forces
Resolution of a Force Into a Force at O and a Couple

•Force vector F can not be simply moved to O without

modifying its action on the body.

•Attaching equal and opposite force vectors at O

produces no net effect on the body.

•The three forces may be replaced by an equivalent

force vector and couple vector, i.e, a force-couple
system.
eventh
dition
Static of Rigid Bodies: Equivalent Systems of Forces
Sample Problem 3.6
SOLUTION:
•Attach equal and opposite 20 lb
forces in the +x direction at A,
thereby producing 3 couples for
which the moment components
are easily computed.
•Alternatively, compute the sum of
the moments of the four forces
about an arbitrary single point.
The point D is a good choice as
only two of the forces will
Determine the
produce non-zero moment
components of the single
contributions..
couple equivalent to the
couples shown.
eventh
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Static of Rigid Bodies: Equivalent Systems of Forces
Sample Problem 3.6
•Attach equal and opposite 20 lb
forces in the +x direction at A

•The three couples may be

represented by three couple
vectors,
M x = −( 30 lb )(18 in.) = −540 lb ⋅ in.
M y = +( 20 lb )(12 in.) = +240lb ⋅ in.
M z = +( 20 lb )( 9 in.) = +180 lb ⋅ in.

M = −( 540 lb ⋅ in.) i + ( 240lb ⋅ in.) j

+ (180 lb ⋅ in.) k
eventh
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Static of Rigid Bodies: Equivalent Systems of Forces
Sample Problem 3.6
•Alternatively, compute the sum
of the moments of the four
forces about D.
•Only the forces at C and E
contribute to the moment about
D.

M = M D = (18 in.) j × ( − 30 lb ) k
+ [ ( 9 in.) j − (12 in.) k ] × ( − 20 lb ) i

M = −( 540 lb ⋅ in.) i + ( 240lb ⋅ in.) j

+ (180 lb ⋅ in.) k
eventh
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Static of Rigid Bodies: Equivalent Systems of Forces
System of Forces: Reduction to a Force and Couple

•A system of forces may be replaced by a

collection of force-couple systems acting a
given point O
•Force and couple vectors may be combined
into a resultant force vector and a
resultant couple vector, R= F∑ M OR = ( r × F )
∑
•The force-couple system at O may be
moved to O’ with the addition of the
moment of R about O’ , MR = MR + s×R
O' O
•Two systems of forces are equivalent if
they can be reduced to the same force-
couple system.
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Static of Rigid Bodies: Equivalent Systems of Forces
Further Reduction of a System of Forces
•If the resultant force and couple at O are
mutually perpendicular, they can be replaced by
a single force acting along a new line of action.

•The resultant force-couple system for a

system of forces will be mutually
perpendicular if:
1) the forces are concurrent,
2) the forces are coplanar, or
3) the forces are parallel.
eventh
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Static of Rigid Bodies: Equivalent Systems of Forces
Further Reduction of a System of Forces
•System of coplanar forces is
reduced to a force-couple system
R and M OR that
is mutually perpendicular.
•System can be reduced to a
single force by moving the line
of action of R until its
moment about O becomes
M OR

•In terms of rectangular

coordinates,
xR y − yRx = M OR
eventh
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Static of Rigid Bodies: Equivalent Systems of Forces
Sample Problem 3.8
For the beam, reduce the
system of forces shown to (a)
an equivalent force-couple
system at A, (b) an equivalent
force couple system at B, and
(c) a single force or resultant.
Note: Since the support
reactions are not included, the
given system will not maintain
the beam in equilibrium.
SOLUTION:
a)Compute the resultant force
for the forces shown and
the resultant couple for the
moments of the forces
about A.
b)Find an equivalent force-
couple system at B based
on the force-couple system
at A.
c)Determine the point of
application for the resultant
force such that its moment
about A is equal to the
resultant couple at A.
eventh
dition
Static of Rigid Bodies: Equivalent Systems of Forces
Sample Problem 3.8
SOLUTION:
a)Compute the resultant force and
the resultant couple at A.
R = ∑F
= (150 N ) j − ( 600 N ) j + (100 N ) j − ( 250 N ) j
R = −( 600 N ) j

M RA = ∑( r × F )
= (1.6 i ) × ( − 600 j) + ( 2.8 i ) × (100 j)
+ ( 4.8 i ) × ( − 250 j)

M RA = −(1880 N ⋅ m ) k
eventh
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Static of Rigid Bodies: Equivalent Systems of Forces
Sample Problem 3.8
b)Find an equivalent force-couple
system at B based on the force-
couple system at A.
The force is unchanged by the
movement of the force-couple
system from A to B.
R = −( 600 N ) j
The couple at B is equal to the
moment about B of the force-couple
system found at A.
M RB = M RA + rB A × R
= −(1880 N ⋅ m ) k + ( − 4.8 m ) i × ( − 600 N ) j
= −(1880 N ⋅ m ) k + ( 2880 N ⋅ m ) k

M RB = + ( 1000N ⋅ m ) k
eventh
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Static of Rigid Bodies: Equivalent Systems of Forces
Sample Problem 3.10
SOLUTION:
•Determine the relative position
vectors for the points of
application of the cable forces
with respect to A.
•Resolve the forces into
rectangular components.
•Compute the equivalent force,
R = ∑F
Three cables are attached to •Compute the equivalent couple,
the bracket as shown.
Replace the forces with an M RA = ∑ ( r × F )
equivalent force-couple
system at A.
eventh
dition
Static of Rigid Bodies: Equivalent Systems of Forces
Sample Problem 3.10
•Resolve the forces into
rectangular components.
FB = ( 700 N ) λ
rE B 75 i − 150 j + 50k
λ= =
rE B 175
= 0.429 i − 0.857 j + 0.289k
FB = 300 i − 600 j + 200k ( N )
SOLUTION:
•Determine the relative FC = (1000 N )( cos 45 i − cos 45 j)
position vectors with respect = 707 i − 707 j ( N )
to A.
rB A = 0.075 i + 0.050k ( m )
FD = (1200 N )( cos 60 i + cos 30 j)
rC A = 0.075 i − 0.050k ( m )
= 600 i + 1039 j ( N )
rD A = 0.100 i − 0.100 j ( m )
eventh
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Static of Rigid Bodies: Equivalent Systems of Forces
Sample Problem 3.10
•Compute the equivalent •Compute the equivalent couple,
force, R = F
∑ M RA = ∑ ( r × F )
= ( 300 + 707 + 600 ) i
i j k
+ ( − 600 + 1039) j
rB A ×F B = 0.075 0 0.050 = 30i − 45k
+ ( 200 − 707 ) k
300 − 600 200
R = 1607i + 439 j − 507k ( N ) i j k
rC A ×F c = 0.075 0 − 0.050 = 17.68 j
707 0 − 707
i j k
rD A ×F D = 0.100 − 0.100 0 = 163.9k
600 1039 0

M RA = 30 i + 17.68 j + 118.9k
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Static of Rigid Bodies: Equilibrium of Rigid Bodies

Equilibrium of Rigid Bodies

•Introduction
•Equilibrium of rigid body
•Reaction at structural supports and connection
eventh
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Static of Rigid Bodies: Equilibrium of Rigid Bodies
Introduction
•For a rigid body in static equilibrium, the external
forces and moments are balanced and will impart no
translational or rotational motion to the body.

•The necessary and sufficient condition for the static

equilibrium of a body are that the resultant force and
couple from all external forces form a system
equivalent to zero,
∑F = 0 ∑M O = ∑ ( r × F) = 0
•Resolving each force and moment into its rectangular
components leads to 6 scalar equations which also
express the conditions for static equilibrium,
∑ Fx = 0 ∑ Fy = 0 ∑ Fz = 0
∑Mx = 0 ∑M y = 0 ∑Mz = 0
eventh
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Static of Rigid Bodies: Equilibrium of Rigid Bodies
Equilibrium of rigid body
First step in the static equilibrium
analysis of a rigid body is identification
of all forces acting on the body with a
free-body diagram.
•Select the extent of the free-body and
detach it from the ground and all
other bodies.
•Indicate point of application,
magnitude, and direction of external
forces, including the rigid body weight.
•Indicate point of application and
assumed direction of unknown applied
forces. These usually consist of
reactions through which the ground
and other bodies oppose the possible
motion of the rigid body.
•Include the dimensions necessary to
compute the moments of the forces.
eventh
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Static of Rigid Bodies: Equilibrium of Rigid Bodies
Reaction at structural supports and connection

•Reactions equivalent
to a force with
known line of action.
eventh
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Static of Rigid Bodies: Equilibrium of Rigid Bodies
Reaction at structural supports and connection

•Reactions equivalent to
a force of unknown
direction and
magnitude.

•Reactions equivalent
to a force of
unknown direction
and magnitude and
a couple.of unknown
magnitude
eventh
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Static of Rigid Bodies: Equilibrium of Rigid Bodies
Equilibrium of a Rigid Body in Two Dimensions
•For all forces and moments acting on
a two-dimensional structure,
Fz = 0 M x = M y = 0 M z = M O

•Equations of equilibrium become

∑ Fx = 0 ∑ Fy = 0 ∑ M A = 0
where A is any point in the
plane of the structure.

•The 3 equations can be solved for

no more than 3 unknowns.
•The 3 equations can not be
augmented with additional
equations, but they can be replaced
∑ Fx = 0 ∑ M A = 0 ∑ M B = 0
eventh
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Static of Rigid Bodies: Equilibrium of Rigid Bodies
Sample Problem 4.1
A fixed crane has a mass of
1000 kg and is used to lift a
2400 kg crate. It is held in
place by a pin at A and a
rocker at B. The center of
gravity of the crane is
located at G.
Determine the components
of the reactions at A and B.
SOLUTION:
•Create a free-body diagram for
the crane.
•Determine B by solving the
equation for the sum of the
moments of all forces about A.
No contribution from the
unknown reactions at A.
•Determine the reactions at A
by solving the equations for
the sum of all horizontal
force components and all
vertical force components.
•Check the values obtained for
the reactions by verifying that
the sum of the moments
about B of all forces is zero.
eventh
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Static of Rigid Bodies: Equilibrium of Rigid Bodies
Sample Problem 4.1
•Determine B by solving the
equation for the sum of the
moments of all forces about A.
∑ M A = 0 : + B (1.5m ) − 9.81 kN( 2m )
− 23.5 kN( 6m ) = 0
B = +107.1 kN
•Determine the reactions at A by
solving the equations for the sum
•Create the free-body
of all horizontal forces and all
diagram.
vertical forces.
∑ Fx = 0 : Ax + B = 0
Ax = −107.1 kN
∑ Fy = 0 : Ay − 9.81 kN − 23.5 kN = 0
Ay = +33.3 kN

•Check the values obtained.

eventh
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Static of Rigid Bodies: Equilibrium of Rigid Bodies
Sample Problem 4.3
SOLUTION:
•Create a free-body diagram for
the car with the coordinate
system aligned with the track.
•Determine the reactions at the
wheels by solving equations
for the sum of moments about
points above each axle.
A loading car is at rest on an •Determine the cable tension by
inclined track. The gross weight solving the equation for the
of the car and its load is 5500 lb, sum of force components
and it is applied at at G. The parallel to the track.
cart is held in position by the •Check the values obtained by
cable. Determine the tension in verifying that the sum of force
the cable and the reaction at components perpendicular to
each pair of wheels. the track are zero.
eventh
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Static of Rigid Bodies: Equilibrium of Rigid Bodies
Sample Problem 4.3
•Determine the reactions at the
wheels.
∑ M A = 0 : − ( 2320 lb ) 25in. − ( 4980 lb ) 6in.
+ R2 ( 50in.) = 0
R2 = 1758 lb

∑ M B = 0 : + ( 2320 lb ) 25in. − ( 4980 lb ) 6in.

− R1 ( 50in.) = 0
R1 = 562 lb
•Create a free-body
diagram •Determine the cable
W x = +( 5500 lb ) cos 25 tension.
= +4980 lb ∑ Fx = 0 : + 4980 lb − T = 0

W y = −( 5500 lb ) sin 25 T = +4980 lb

= −2320 lb