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Engineering Mechanics / Unit 1/ Module 3 Moment about an axis and couples

Problem Set

1. Given the vectors P=-5i+2j-2k, Q = 1k+4j-3k, and S = i-2j+2k, compute the scalar products P.Q, P.S, and Q.S. 2. Determine the volume of the parallelepiped of Forces when P= 2i-7j+5k, Q=6i+2j-k, S=4i-j-4k 3. Cube of side a=3m is acted upon by a force P =20kN as shown determine the moment of P (a) about the edge AB, (b) About the diagonal AG of the cube? [Ans:(a) 42.42 KNm, (b)-24.5 KNm]

4. Consider the volleyball net shown. Determine the angle formed by guy wire AB and AC (Hint: Find the location of B and C with respect to A. after apply the equation from reading material Angle formed by two given vectors,[Ans:43.6degree]

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5. Practice the problem given in Example 4 and additional problems.

Additional Problems: 1. If there are forces F=20N and having angle 45 degrees acting in North East direction and force F = -20N and having an angle 45 degrees in south west direction, Then will they form couple? If they forms the couple what is the magnitude of moment of couple? 2. If there are three vectors P = 2i+3j+6k, Q=3i+4j+k, R = 2i+2j+rk, find the value of the component r if they are coplanar? (Hint: Mixed triple product) [Ans:r= -10]

Examples

1. Given the vectors P=-4i+8j-3k, Q = 9i-j-7k, and S = 5i-6j+2k, compute the scalar
products P.Q, P.S, and Q.S. Solution:
PQ = (4i +8j 3k) (9i j 7k)

= (4)(9)+(8)(1)+(3)(7) = 23 or PQ = 23 PS = (4i +8j 3k) (5i 6j +2k)

= (4)(5) + (8)(6) + (3)(2)

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= 74 or PS = 74 QS = (9i j 7k) (5i 6j +2k) =(9)(5)+(1)(6)+(7)(2) = 37 or QS = 37

2.

Determine the volume of the pallaelopiped of Forces when P= 3i-4j+k, Q=-7i+6j-8k, S=9i-2j-3k, all these forces have dimensions in inches? Solution: Volume of the parallelepiped is obtained by mixed triple product

3. A cube of side a is acted upon by a force P as shown determine the moment of P

(a) about A, (b) About the diagonal AG of the cube?

Solution: a) Lets take Moment about A

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For that we have to choose the coordinate system x, y, and z axes as shown in figure and corresponding unit vectors are i, j, k. For calculating moment we want perpendicular distance of the force P from the point A. This perpendicular distance shows by rF/A = AF drawn from A to the point of application F of P.

rF/A = ai-aj = a(i-j)

The moment of P about A is cross product of perpendicular distance (rF/A) and force P.

MA = rF/A xP =
(b) Moment about diagonal AG: The moment of P about AG is obtained by projecting MA (moment about A) on AB. For that lets take unit vector along AG as show in figure with blue color,

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Moment about diagonal AG is projection of M A (moment about A) on the diagonal AG for that we have to multiply unit vector of diagonal AG with MA.

4.

A square foundation mat supports the four columns shown. Determine the magnitude and point of application of the result of four loads?

Solution:
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we first reduce the given system of force to a force-couple system at origin O of the coordinate system. This force-couple system consists of a force R and a couple vector M OR defined as follows.

R= F

MOR = (rxF )

Here force R is sum of individual force acting on column and that forces have been transfer to point O. M OR is sum of moments which generate by individual force acting on column and perpendicular distance from O. clear idea can be carried out by figure given below.

The position vector of points of application of various forces R determined when computations are arranged in tabular form.

r(ft) 0 10i 10i+5k 4i+10k

F (kip) -40j -12j -8j -20j R = -80j

rxF(kip-ft) 0 -120k 40i-80k 200i-80k MOR = 240i-280k

Since the force R and couple vector MOR are mutually perpendicular, the forcecouple system obtained can be reduced further to a single force R. The new point of application of R will be selected in the plane of the mat and in such away the moment of R about O will be equal to MOR. Denoting by r the position vector of the desired point of application and by x and z its coordinates we write

rxR = MOR

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(xi+zk)x(-80j) = 240i-280k -80xk + 80zi = 240i 280k

From which it follows that

-80x = -280 x= 3.50ft

80z = 240 z= 3ft

at

we can conclude that the result of given system of force is R=80kpi x=3.5ft and z=3ft

Faculty Notes
1. Scalar product of two vectors The scalar product of two vectors P and Q is defined as the product of the magnitude of P and Q and of the cosine of the angle formed by P and Q.The scalar product of P and Q is denoted by P.Q. We write therefore

Note that the expression just defined is not a vector but a scalar, which explains the name scalar product; because of the notations used, P.Q is also referred to as the dot product of the vectors P and Q. It follows from its very definition that the scalar product of two vectors is commutative, that is, that P.Q = Q.P To prove the scalar product is also distributive, we must prove the relation P.(Q1 + Q2) = P.Q1 + P.Q2 We can, without any loss of generality; assume that P is directed along the y-axis. Denoting by Q the sum of Q1 and Q2 and by the y the angle Q forms with y-axis, we express the left-hand member as follows

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P. (Q1 + Q2) = P.Q = PQ cosy = PQy Where Qy is the y component of Q. We can, in a similar way, express the righthanded member of as P.Q1 + P.Q2 = P(Q1)y + P(Q2)y Since Q is the sum of Q1 and Q2, its y component must be equal to the sum of y components of Q1 and Q2. Thus, the expression obtained in the two expressions is equal, and the relation has been proved. As far as the third property the associative property is concerned, we note that this property cannot apply to scalar products. Indeed, (P.Q).S has no meaning, since P.Q is not a vector but a scalar. The scalar product of two vectors P and Q can be expressed in terms of rectangular components. Resolving P and Q into components, we first write P.Q = (Pxi + Pyj + Pzk).(Qxi + Qyj + Qzk) Making use of the distributive property, we express P.Q as the sum of the scalar products, such as Pxi . Qxi and Pxi.Qyj. However, from the definition of the scalar product it follows that the scalar product of the unit vectors are either zero or one. i.i = 1 j.j = 1 k.k = 1 i.j = 0 j.k = 0 k.i = 0 Thus, the expression obtained for P.Q reduced to P.Q = PxQx + PyQy + PzQz In particular case when P and Q are equal, we note that P.P = Px2 + Py2 + Pz2 = P2 Applications: 1.Angle formed by two given vectors: let two vectors be given in terms of their components be P = Pxi + Pyj + Pzk Q = Qxi + Qyj + Qzk To determine the angle formed by the two vectors, we equate the expressions obtained by and for their scalar product and write PQ cos = PxQx + PyQy + PzQz Solving for cos , we have

2 . Projection of a vector on a given axis:

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Consider a vector P forming an angle with an axis, or directed line, OL (fig. 1). The projection of P on the axis OL is defined as the scalar POL = P cos

We note that projection POL is equal in absolute value to the length of the segment OA; it will be positive if OA has the same sense as the axis OL are at a right angle, the projection of P on OL is zero. Consider now a vector Q (fig. 2) directed along OL and of the same sense as OL. The scalar product of P and Q can be expressed as P.Q = PQ cos = POL Q

From which it follows that

In the particular case when the vector selected along OL is the unit vector , we write POL = P.
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Resolving the P and into rectangular components and recalling from the components of along the coordinate axes are respectively equal to the direction cosines of OL, we express the projection of P on OL as POL = Px cosx + Py cosy +Pz cosz Where x, y, z denote the angles that the axis OL forms with the coordinate axes as shown in figure 3.

3. Mixed Triple Product of Three Vectors: We define the mixed triple product of the three vectors S, P and Q as the scalar expression S.(P x Q) Obtained by forming the scalar product of S with the vector product of P and Q as shown in fig. 4

A simple geometrical interpretation can be given for the mixed triple product of S, P and Q. We know that the vector PxQ is perpendicular to the plane containing P and Q and its magnitude is equal to the area of the parallelogram which has sides P and Q. On other hand, equation indicates that the scalr product of S and PxQ can be obtained by multiplying the magnitude of PxQ( that is, the area of the parallelogram defined by P and Q) by the projection of S on the vector PxQ(that is, by the projection of S on the normal to the plane containing the parallelogram).

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The mixed triple product is thus equal, in absolute value, to the volume of the parallelepiped having the vectors S, P, and Q for sides (fig. 5). We note that the sign of the mixed triple product will be positive if S, P and Q form a right handed triad and negative if they form the left-handed triad (that is, S.(P x Q) will be negative if the rotation which brings P into line with Q is observed as clockwise from the tip of S). The mixed triple product will be zero if S, P and Q are coplanar.

Since the parallelepiped defined in the preceding paragraph is independent of the order in which the three vectors are taken, the six mixed triple products which can be formed with S, P and Q will all have the absolute value, although not the same sign. It is easily shown that S.(P x Q) = P.(Q x S) = Q.(S x P) = -S.(Q x P) = -P.(S x Q) = -Q.(P x S)

Arranging in a circle and in counterclockwise order the letters representing the three vectors, we observe that the sign of the mixed triple product remains unchanged if the vectors are permuted in such a way that they are still read in counterclockwise order. Such a permutation is said to be a circular permutation. It also follows from equation and from the commutative property of scalar products that the mixed triple product of S, P and Q can be defined equally well as S.(P x Q) or (S x P).Q.

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The mixed triple product of the vectors S,P and Q can be expressed in terms of the rectangular components of these vectors. Denoting PxQ by V and using formula to express the scalar product of S and V, we write S.(P x Q) = S.V = SxVx + SyVy + SzVz Substituting from the relations for the components of V, we obtain S.(P x Q) = Sx(PyQz PzQy) + Sy(PzQx PxQz) + Sz(PxQy PyQx) The expression can be written in a more compact form if we observe that it represents the expression of a determinant:

By applying the rules governing the permutation of rows in a determinant, we could easily verify the relation which was derived earlier from geometrical considerations. 4. Moment of a Force about A Given Axis: Now that we further increased our knowledge of vector algebra, we can introduce a new concept, the concept of moment of a force about an axis. Consider again a force F acting on a rigid body and the moment M O of that force about O. Let OL be an axis through O; we define the moment MOL of F about OL, as the projection OC of the moment M O onto the axis OL. Denoting the unit vector along OL, the projection of a vector on a given axis and for the moment M O of a force F, we write MOL = .MO = .(r x F) This shows that the moment MOL of F about the axis OL is the scalar obtained by forming the mixed triple product of , r, and F. Expressing MOL in the form of a determinant, we write

Where x, y, z = direction cosines of axis OL x, y, z = coordinates of point of application of F Fx, Fy, Fz = components of force F

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The physical significance of the moment MOL of a force F about a fixed axis OL becomes more apparent if we resolve F into two rectangular components F1 and F2, with F1 parallel to OL and F2 lying in a plane P perpendicular to OL. Resolving r similarly into two components r1 and r2 and substituting for F and r into we write MOL = .[(r1+r2)x(F1+F2)] = .(r1 x F1) + .(r1 x F2) + .(r2 x F1) + .(r2 x F2)

Noting that the entire mixed triple product except the last one is equal to zero, since they involve vectors which are coplanar when drawn form a common origin, we have MOL = .(r2 x F2) The vector product of (r2xF2) is perpendicular to the plane P and represents the moment of the component F2 of F about the point Q where OL intersects P. Therefore, the scalar MOL, which will be positive if r2xF2 and OL have same sense and negative otherwise, measures the tendency of F2 to make the rigid body rotate about fixed axis OL. Since the other component F1 of F does not tend to make the body rotate about OL, we conclude that the moment MOL of F about OL measures the tendency of the force F to impart to the rigid body a motion of rotation about the fixed axis OL It follows from the definition of the moment of a force about an axis that the moment of F about a coordinate axis is equal to the components of MO along that axis. Substituting successively each of the unit vector i, j, and k for , we observe that the expression thus obtained for the moment of F about the coordinate axes are respectively equal to the expression obtained for the component of the moment M O of F about O. Mx = yFz zFy My = zFx xFz Mz = xFy yFx We observe that just as the components Fx, Fy and Fz of a force F acting on a

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rigid body measure respectively, the tendency of F to move rigid body in the x, y and z directions, the moment Mx, My and Mz of F about the coordinate axes measure the tendency of F to impart to the rigid body a motion of rotation about the x, y and z axes, respectively. 5. Moment of a Couple: Two forces F and F having the same magnitude, parallel line of action and opposite sense are said to form a couple as shown in fig. 9. Clearly, the sum of the components of the two forces in any direction is zero. The sum of the moments of the two forces about a given point, however, not zero. While the two forces will not translate the body on which they act, they will tend to make it rotate.

Denoting rA and rB, respectively, the position vectors of the point of application of F and F, we find the sum of the moments of the two forces about O is (fig. 10) rA x F + rB x (-F) = (rA rB) x F

setting rA-rB = r, where r is the vector joining the point of application of the two forces, we conclude that the sum of the moment of F and F about O is represented by vector M= r x F The vector M is called Moment of Couple, it is a vector perpendicular to the plane containing the two forces, and its magnitude is M = rF sin = Fd

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Where d is the perpendicular distance between the line of action of F and F. The sense of M is defined by the right-handed rule. (fig. 11)

Since the vector r is independent of the choice of the origin O of the coordinate axes, we note that the same result would have been obtained if the moments of F and F had been computed about a different point O. Thus, the moment M of a couple is a free vector which can be applied at any point. From the definition of the moment of a couple, it also follows that the two couples, one consisting of the forces F1 and F1, the other of the forces F2 and F2, will have equal moment if F 1d1 = F2d2 And if the the two couples lie in parallel planes or in the same plane and have the same sense

6. Addition of Couples: Consider two intersecting planes P1 and P2 and two couple acting respectively in P1 and P2. We can, without any loss of generality, assume that the couple in P1 consist of two forces F1 and F1 perpendicular to the line of intersection of the two planes and acting respectively at A and B. Similarly, we assume that the couple in P2 consists of two forces F2 and F2 perpendicular to
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AB and acting respectively at A and B. It is clear that the resultant R of F1 and F2 and resultant R of F1 and F2 form a couple. Denoting by r the vector joining B to A and recalling the definition of the moment of a couple, we express the moment M of the resulting couple as follows: M = r x R = r x (F1+F2) And by Varignons theorem M = r x F 1 + r x F2 But the first term in the expression obtained represents the moment M 1 of the couple in P1, and the second term represents the moment M 2 of the couple P2. We have M = M1 + M2 And we conclude that the sum of two couples of moment M 1 and M 2 is a couple of moment M equal to the vector sum of M1 and M 2

7. Resolution of a given Force into a Force at O and a couple : Consider a force F acting on a rigid body at a point A (fig 14) defined by the position vector r. Suppose that for some reason we would rather have the force act at point O. while we can move F along its line of action (principle of transmissibility), we cannot move it to a point O which does not lie on the original line of action without modifying the action of F on the rigid body. We can, however, attach two forces at point O, one equal to F and the other equal to F, without modifying the action of the original force on the rigid body. As a result of this transformation, a force F is now applied at O; the other two forces form a couple of moment M O = rxF. Thus, any force F acting on a rigid body can be moved to an arbitrary point O provided that a couple is added whose moment is equal to the moment of F about O. the couple tends to impart to the rigid body the same rotary motion about O that the force F tended to produce before it was transferred to O. The couple is represented by a couple vector M O perpendicular to the plane containing r and F. since M O is a free vector, it may be applied anywhere; for convenience, however the couple vector is usually attached at O, together with F, and the combination obtained is referred to as a force-couple system.

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8. Reduction of a system of forces to one force and one couple: Consider a system of forces F1, F2, F3 .. acting on a rigid body (fig 15) at the point A1, A2, A3, .. . . defined by the position vectors r1, r2, r3, etc. As seen in the preceding section, F1 can be moved from A1 to a given point O if a couple of moment M1 equal to the moment r1xF1 of F1 about O is added to the original system of forces. Repeating the procedure with F2, F3, . . . we obtain the system shown in fig which consists of the original forces, now acting at O, and the added couple vectors. Since the forces are now concurrent, they can be added vectorially and replaced by their resultant R. Similarly, the couple vector M 1, M 2, M 3, . . . can be added vectorially and replaced by a single couple vector M OR. Any system of forces, however complex, can thus be reduced to an equivalent force-couple system acting at a given point O. We should note that while each of the couple M1, M 2, M3, . . . in fig. is perpendicular to its corresponding force, the resultant force F and the resultant couple vector M OR will not, in general, be perpendicular to each other. The equivalent force-couple system is defined by the equation R = F MOR = MO = (r x F)

Which express that the force R is obtained by adding all the forces of the system, while the moment of the resultant couple vector MOR, called the moment of resultant of the system, is obtained by adding the moment about O of all the force of the system.

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