FS - 1

FS - 2

F Fig. 1. A Force in space

FS - 3
FS - 4
 FS - 5

Fig. 3. Concurrent noncoplanar system of forces

 FS - 6

Fig. 4. Nonconcurrent noncoplanar system of forces

 FS - 7

Fig. 5 Noncoplanar parallel system of forces

 Forces in space
FS - 8

Rectangular components of a force in space

Fig. 6. Resolving a force in space into rectangular components

 FS - 9
Forces in space
Rectangular components of a force in space
In the Fig.6(a) a force F is acting at the origin O of the system
of rectangular coordinate axes X,Y,Z. Consider OBAC plane
passing through the force F. This plane makes an angle  with
respect to XOY plane. Force F makes an angle θy with
respect to Y-axis.

Fig.6(a)
 FS - 10
Forces in space
Rectangular components of a force in space

Fig.6(b)

In the Fig.6(b), the force F is resolved in the vertical (Y- axis) and
horizontal direction (X – axis) as
Fy = F Cosy and
Fh = F Siny respectively.
 FS - 11
Forces in space
Rectangular components of a force in space

Fig.6(c)

In the Fig 6(c) the horizontal component Fh is again resolved in the X and
Z axes directions. These components are
Fx = Fh cos = F siny cos
Fz = Fh Sin = F siny sin
 Forces in space FS - 12

Now applying Pythagorean theorem to the triangles OAB

and OCD
F2 = (OA)2 = OB2 + BA2 = Fy2 +Fh2 ----------------(1)
Fh2 = OC2 = OD2 + DC2 = Fx2 +Fz2 ----------------(2)
Substituting equation (2) into the equation (1), we get
F2 = Fx2 +Fy2 + Fz2
F =  Fx2 + Fy2 + Fz2 ----------------(3)
 FS - 13
Forces in space
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 below. The force F is then represented by the original OA of this
box.

Fig. 7 Relationship between Force F and its components Fx, Fy and Fz

 Forces in space FS - 14

From the above Figure (Fig. 7)

Fx = F Cos x, Fy = F Cosy, Fz = F Cosz ------------(4)

Where x, y, z are the angles formed by the force F with X, Y, Z axes respectively.
Fx,Fy,Fz are the rectangular components of the force F in the directions of X, Y, Z
axes respectively.

Cos x = Fx/F; Cosy = Fy/F; Cosz = Fz/F

Substituting equation (4) into the equation (3), we get

F =  Fx2 + Fy2 + Fz2

F =  F2Cos2x + F2Cos2y + F2Cos2z

F2 = F2 ( Cos2x + Cos2y + Cos2z )

1 = Cos2x + Cos2y + Cos2z -------------(5)

 Forces in space FS - 15

Force Defined by its magnitude and two points on its line of action

From the adjacent Fig. 8.

dx= d Cos x, dy = d Cosy,

dz = d Cosz
----(6)
d =  dx2 + dy2 + dz2
---(7)
Dividing member by
member the relations (4) and
(6), we obtain

Fx /dx = Fy/dy = Fz/dz = F/d

----------------------------(8) Fig 8
 Forces in space FS - 16

Resultant of concurrent forces in Space:-

Resolve all the forces into their rectangular components in X, Y and Z axes directions.
Adding algebraically all the horizontal components in the x direction gives

Rx =  Fx,
Similarly adding algebraically all the components in y and z directions yield the
following relations
Ry =  Fy,
Rz =  Fz

Thus magnitude of resultant

R =  Rx2 + Ry2 + Rz2

Angles x, y, z resultant forms with the axes of coordinates are obtained by
Rx Ry Rz
Cos x  ; Cos y  ; Cos z 
R R R
 Forces in space FS - 17

Problems:
(1) A tower guy wire is anchored by means of a bolt at A is shown in the following
Figure. The tension in the wire is 6000N. Determine
(a) The components Fx, Fy, Fz of the forces acting on the bolt.
(b) The angles x, y, z defining the direction of the force.
 Forces in space FS - 18

Solution: (a) Here dx = 50m, dy = 200m, dz = -100m

Total distance A to B
d =  dx2 + dy2 + dz2
=  (50)2 + (200)2 + (-100)2
= 229.13 m
Using the equation (8) Fx /dx = Fy/dy = Fz/dz = F/d
Fx = dx . (F/d) = (50 x 6000)/ 229.13 = 1309.3 N
Fy = dy . (F/d) = (200 x 6000)/ 229.13 = 5237.20 N
Fz = dz . (F/d) = (-100 x 6000)/ 229.13 = -2618.6 N
 Forces in space FS - 19

(b) Directions of the force:

Cos x = dx /d , x = Cos–1 (50/229.13) = 77.4

y = Cos–1 (dy /d) = Cos–1 (200/229.13) = 29.2

z = Cos–1 (dz /d) = Cos–1 (-100/229.13) = 115.88

 Forces in space FS - 20

Problem(2) Determine (a) the x , y and z components of the 250 N

force acting as shown below
(b) the angles x, y, z that the force forms with the coordinate
axes.
 Forces in space FS - 21

Fh = 250 Cos60 = 125 N Fy = 250 Sin60 = 216.5 N

Fx = 125 Cos25 = 113.29 N Fz = 125Sin25 = -52.83 N

x = Cos–1 ( Fx /F) = Cos–1 (113.29/250) = 63

y = Cos–1 ( Fy /F) = Cos–1 (216.5/250) = 30
z = Cos–1 ( Fz /F) = Cos–1 (-52.83/250) = 102.11o

Components of 250 N in the x, y, z axes directions are

Fx = 113.29N Fy = 216.5 N Fz = -52.83N

 Forces in space FS - 22

Problem 3. Find the resultant of the system of forces as shown

below
 Forces in space  FS - 23

Solution

Components of Force F1 = 3000 N:

o
Fy1 = 3000 x Cos40 = 2298.13 N
o
Fh1 = 3000 x Sin40 = 1928.36 N
o
Fx1 = 1928.36 x Cos30 =1670 N
o
Fz1 = 1928.36 x Sin30 = 964.18 N
 Forces in space FS - 24

Components of Force F2 = 2000 N:

Fy2 = 2000 x Cos20 = 1879.39 N
Fh2 = 2000 x Sin20 = 684.04 N
Fx2 = 684.04 x Sin35 = 392.35 N
Fz2 = 684.04 x Cos35 = 560.33N
 Forces in space FS - 25

Rx =  Fx = Fx1 + Fx2 = 1670 – 392.35 = 1277.65

Ry =  Fy = Fy1 + Fy2 = 2298.13 + 1879.39 = 4177.52 N
Rz =  Fz = Fz1 + Fz2 = 964.18 + 560.33 = 1524.51 N
Resultant R = Rx2 + Ry2 +Rz2
= 1277.652 +4177.522 +1524.512
= 4626.9 N
Its inclinations with respect to x, y and z axes are
calculated as
x = Cos–1 (1277.65 /4626.9) = 73 58' 13.1"
y = Cos–1 (4177.52/4626.9) = 25 27'
z = Cos (1526.51/4626.9) = 70 45’36”
–1 o
 Forces in space FS - 26

Problem 4. In the Fig shown below, the forces in the cables AB and AC
are 100 kN and 150 kN respectively. At the joint ‘A’ loading is as
shown in the Fig. Find the resultant of system of forces in space and its
inclination with rectangular coordinates x,y and z axes.
 Forces in space FS - 27

Solution: Force in the cable AB = 100 kN

Force in the cable AC=150 kN

For the cable AB

dx = -20 m
dy = 15m
dz = 5m
dAB =  dx2 +dy2 + dz2
=  (-20)2 +(15)2 + (5)2 =  650 = 25.5 m

For the cable AC

dx = -20 m
dy = 25m
dz = -10m
dAc = (-20)2 +(25)2 + (-10)2 = 1125 = 33.54 m
 Forces in space FS - 28

For the cable AB (1)

Fx1/dx1 = Fy1/dy1 = Fz1/dz1 = F/d
Fx1/-20 = Fy1/15 = Fz1/5 = 100/25.5
Fx1 = -78.41 kN
Fy1 = 58.82 kN
Fz1 = 19.61 kN

For the Cable AC (2)

Fx2/-20 = Fy2/25 = Fz2/-10 = 150/33.54

Fx2 = - 89.45 kN
Fy2 = 111.81 kN
Fz2 = - 44.72 kN
 Forces in space FS - 29

Component of force 60 kN

Fx3 = 60 x Cos(70) = 20.52 kN

Fy3 = 60 x Cos(30o) = 51.96 kN
Fz3 = 60 x Cos(11123)= - 21.88 kN

Component of the force 50KN

Fx4 = 50 kN
Fy4 = 0
Fz4 = 0
 Forces in space FS - 30

Algebraic summation of Rectangular Components in X, Y and Z

axes directions yield:
Rx =  Fx = Fx1 + Fx2 + Fx3 + Fx4
= -78.43 - 89.45 + 20.52 + 50
= -97.36 kN
Ry =  Fy = Fy1 + Fy2 + Fy3 + Fy4
= 58.82 + 111.81 + 51.96 + 0
= 222.59 kN

Rz =  Fz = Fz1 + Fz2 + Fz3 + Fz4

= 19.61 – 44.72 – 21.88 + 0
= -46.99 kN

 Resultant R =  Rx2 + Ry2 + Rz2

=  (-97.36)2 + (222.59)2 + (-46.99)2
= 247.45 kN
 Forces in space FS - 31

Inclinations of the resultant with X,Y and Z axes:

x = Cos-1(Rx / R) = Cos-1 (-97.36/247.45) = 113 10’
y = Cos-1(Ry / R) = Cos-1 (222.59/247.45) = 25 54’
z = Cos-1(Rz / R) = Cos-1 (-46.99/247.45) = 100 56’ 47”

Check:

Cos2x + Cos2y + Cos2z = 1

Cos2(11310’) + Cos2(2554’) + Cos2(10056) = 1

1 = 1 Hence OK
 FS - 32
Forces in space

Problem 5. a) Forces F1, F2, and F3 pass through the origin and
points whose coordinates are given. Determine the
resultant of the system of forces.

F1 = 20 kN, (3,-2,1)
F2 = 35 kN, (-2,4,0)
F3= 25 kN, (1,2,-3)
 Forces in space FS - 33

Solution:
 Forces in space FS - 34

Force F1 = 20 kN
d =  32 + (-2)2 + 12 =  14 = 3.74
Cos x1 = dx / d = 3/3.74 = 0.802
Cos y1 = -2/3.74 = -0.535; Cos z1 = 1/3.74 = 0.267

Force F2 = 35 kN
d =  (-2)2 + 42 +0 = 20 = 4.47
Cos x2 = -2/4.47 = -0.45
Cos y2 = 4/4.47 = 0.9; Cos z2 = 0

Force F3 = 25 kN
d =  (1)2 + 22 +(-3)2 = 14 = 3.74
Cos x3 = 1/3.74 = 0.267
Cos y3 = 2/3.74 = 0.535; Cos z3 = -3/3.74 = -0.802
 Forces in space FS - 35

Summation of the rectangular components in X, Y and Z axes directions

yield:
Rx = Fx = 20 x 0.802 + 35 x (-0.45) +25 x 0.267 = 6.965 kN
Ry =  Fy = 20 x (-0.535) + 35 x 0.9 + 25 x 0.535 = 34.175 kN
Rz =  Fz = 20 x 0.267 + 35 x 0 + 25 x (-0.802) = -14.71 kN

Resultant R =  Rx2 + Ry2 + Rz2

=  6.9652 + 34.1752 + (-14.71)2
= 37.85 kN

Inclination of the resultant R with respect to X, Y and Z axes are

calculated as
x = Cos–1(Rx / R) = Cos-1(6.965/37.85 ) = 79.4
y = Cos–1(Ry /R) = Cos-1(34.175/37.85) = 25.46
z = Cos–1(Rz /R) = Cos-1(-14.71/37.85) = 112.87
 Forces in space FS - 36

Equilibrium of Concurrent non-coplanar system of forces:

When a rigid body subjected to concurrent noncoplanar system of forces
F1, F2…. ..FN as shown in the Fig. given below, is in equilibrium, then
algebraic summation of all the components of the forces in three mutually
perpendicular directions must be equal to zero.
i.e.  Fx = 0
 Fy = 0
 Fz = 0 (1)
Above equations represent the static
conditions of equilibrium for concurrent
noncoplanar system of forces

Fig. A rigid body subjected to concurrent

noncoplanar system of forces
 Forces in
FS - 37
space
Problem (1) Find the forces in the rods AB , AC and AO subjected to
loading as shown below
 Forces in space FS - 38

Solution:

For the cable AB:

dx1 = 0 - 4 = - 4
dy1= 8 - 0 = 8
dz1 = 15 – 0 =15

d1 =  (-4)2 +(8)2 +(15)2 = 17.46 m

Fx1/-4 = Fy1/8 = Fz1/15 = FAB/17.46

Fx1 = -0.23FAB,
Fy1 = 0.46FAB,
Fz1 = 0.86FAB
 Forces in space FS - 39

For the Cable AC:

dx2 = 0 - 4 = -4m
dy2 = 8 - 0 = 8m
dz2 = -20 – 0 = -20m

d2 =  (-4)2 +(8)2 +(-20)2 = 480 = 21.91m

Fx2/-4 = Fy2/8 = Fz2/-20 = FAC/21.91
Fx2 = -0.18FAC, Fy2 = 0.365FAc, Fz2 = -0.91FAc

For the Force 120 N:

Fx3 = 120 N, Fy3 = 0, Fz3 = 0

For the force Fx4 = 300 N:

Fx4 = 0, Fy4 = -300N, Fz4 = 0
 Forces in space FS - 40

Conditions of Equilibrium
 Fx = 0,  Fy = 0,  Fz = 0

Considering  Fx = 0
Fx1 + Fx2 + Fx3 + Fx4 + Fx5= 0
-FAD-0.23F – 0.18FAC + 120 + 0 = 0
FAD + 0.23FAB + 0.183FAC = 120 ----------------------(1)

 Fy = 0
0.46FAB + 0.365FAC + 0 +0 – 300 = 0
0.46FAB + 0.365FAC = 300 ------------------------------(2)

 Fz = 0
0.86 FAB – 0.91 FAC + 0 = 0 -----------------------(3)
 Forces in space FS - 41

Solving Equations (1), (2) and (3), we get,

FAB = 372.675 N; FAC = 352.25 N ; FAO = - 30.18 N

Force in the rod AB , FAB = 372.675 N (Tensile)

Force in the rod AC, FAC = 352.25 N (Tensile)
Force in the rod AO, FAO = 30.18 N (Compressive)
 Forces in space FS - 42

2) Three cables are connected at D and support, the 400

kN load as shown in the Fig given below. Determine the
tensions in each cable
 Forces in space FS - 43

Let FDA, FDB and FDC are the forces in the cables AD, BD,
and CD respectively.
For Cable DA:
dx1 = (0 – 3) = -3m
dy1 = (6 - 4) =2 m
dz1 = (6 – 0 = 6 m
dAD =  dx2 + dy2 + dz2
dAD =  (-3)2 + (2)2 + (6)2 = 9 + 4 + 36 = 7 m
Fx1/dx1 = Fy1/dy1 = Fz1/dz1 = FDA/dDA
Fx1/(-3) = Fy1/2 = Fz1/6 = FDA/7
 Fx1 = -0.43FDA, Fy1 =0.286FDA, Fz1 = 0.857FDA
 Forces in space FS - 44

For Cable DB:

dx2= (0 – 3) = -3m
dy2 = (6 - 4) =2 m
dz2 = (-6 – 0 = -6 m
dBD = d2 = (-3)2 + (2)2 + (-6)2 =  49 = 7 m
Fx2/dx2 = Fy2/dy2 = Fz2/dz2 = FDB/dDB

Fx2/(-3) = Fy2/2 = Fz2/-6 = FDB/7

Fx2 = -0.43FDB,
Fy2 =0.286FDB,
Fz2 = -0.857FDB
 Forces in space FS - 45

For Cable DC:

dx3 (0 – 3) = -3m
dy3= (0- 4) = -4m
dz3= (0 0 = 0m
dDC= d3=  (-3)2 + (-4) + (0)2
=  9 + 16
= 5m
Fx3/dx3 = Fy3/dy3 = Fz3/dz3 = FDC/d DC
Fx3/(-3) = Fy3/-4 = Fz3/0 = FDC/5

Fx3 = -0.6FDC,
Fy3 =-0.8FDC,
Fz3 = 0
 Forces in space FS - 46

For the force 400KN

dx4 = 12m
dy4= -4m
dz4= 3m
d4= d400 =  (12)2 + (4) + (3)2
= 144 +16 + 9
= 69 = 13m
Fx4/dx4 = Fy4/dy4 = Fz4/dz4 = F400/d4
Fx4/(12) = Fy4/-4 = Fz4/3 = 400/13

Fx4 = 369.23 kN,

Fy4 = -123.08 kN,
Fz4 = +92.31 kN
 Forces in space FS - 47

For Equilibrium, the algebraic summation of resolved

component in a particular direction is equal to zero.
i.e.  Fx = 0 -------------(1)
 Fy = 0 ------------- (2)
 Fz = 0 --------------(3)

(1)  Fx = Fx1 + Fx2 + Fx3 + Fx4 = 0

+ 0.43FDA + 0.43FDB + 0.6FDC = 369.23 ---------(1)
+ 0.286FDA + 0.286FDB – 0.8FDC = 123.08 ------(2)
+ 0.857FDA - 0.857FDB + 0 = 92.31 ------------(3)
 Forces in space FS - 48

Solving equations (1), (2) and (3), we get

FDB = 304.1kN
FDA = 411.8 kN
FDC = 102 kN
 FS - 49

(Ans: Fx= -1060 N , Fy = 2120 N, Fz= + 795 N

Θx = 115.1 o ; Θy= 32.0 o ; Θz= 71.5 o )
 FS - 50

(Ans: Fx= + 278 N , Fy = + 383 N, Fz= + 160.7

N
Θx = 56.2 o ; Θy= 40.0 o ; Θz= 71.3 o )
 FS - 51

(Ans: Fx= -6.30 kN , Fy = 6.06 kN, Fz= + 4.85

kN)
 FS - 52

(Ans: P = 235 N , TAB = 1401 N, TAC= + 1236 N

)
 FS - 53

(Ans: TAB= 2.88 kN , TAC = 5.76 kN, TAD= 3.6

kN)
 FS - 54

Practice Questions

(Ans: P = 138 N ,
TAB = 270N,
TAC = 196N )
 FS - 55

Practice Questions

 Ans: 9.32 kN
 FS - 56

Practice Questions

(Ans: R = 498 N ,
Θx = 68.9 o ; Θy= 26.3 o ; Θz= 75.1 o )
 FS - 57

Practice Questions

Ans: TAB = 500 N

TAC = 459 N
TAD = 516 N