CHAPTER 4

Force System Resultant

4.1 Moment of a Force - - - Scalar Formulation

1.Moment A measure of the tendency of the force to cause a body to rotate about the point or axis. Torque (T) Bending moment (M)

2. Vector quantity (1) Magnitude ( N-m or lb-ft) Mo = Fd d = moment arm or perpendicular distance from point O to the line of action of force.

d o
Lime of action (sliding vector) (2) Direction Right-Hard rule A. Sense of rotation ( Force rotates about Pt.O) Curled fingers B. Direction and sense of moment Thumb

3.Resultant Moment of Coplanar Force System

M RO

Fn

F1

do1 do2

don do3
F2

F3

4.2 Cross Product

1. Definition

(1) magnitude of

(2)Direction of perpendicular to the plane containing A & B

2. Law of operation

(1)

(2)

(3)
3. Cartesian Vector Formulation (1) Cross product of Cartesian unit vectors.

i i j j k k 0 i j i j sin 90 k k j k i ; k i j

(2) Cross product of vector A & B in Cartesian vector form A Ax i Ay j Az k B Bx i B y j Bz k A B ( Ax i Ay j Az k ) ( Bx i B y j Bz k ) Ax B y i j Ax Bz j k Ay Bx i j Ay Bz k j Az B y k i Az B y k j (Ay Bz -Az B y )i ( Az Bx Az Bx ) j (Ax B y Ay Bx )k

A Ax i Ay j Az k i j k A B Ax Ay Az Bx Ay By By Bz

Az Ax i Bz Bx

Az Ax j Bx Bz

Ay k By

4.3 Moment of a Force Vector Formulation

1. Moment of a force F about pt. O Mo= r x F where r = A position vector from pt. O to any pt. on the line of action of force F .

(1) Magnitude

Mo=|Mo|=| r x F | =| r|| F | sin=F r sin =F d (2) Direction Curl the right-hand fingers from r toward F (r cross F ) and the thumb is perpendicular to the plane containing r and F.

4.4 Principle of moments

Varignons theorem
The moment of a force about a point is equal to the sum of the moment of the forces components about the point . F

F1 r o Mo=r x F

F2
Mo= r x (F1+F2)

F = F1+F2

= r x F1+ r x F2
= MO1+MO2

4.5 Moment of a force about a specified Axis

1. Objective
Find the component of this moment along a specified axis passes through the point about which the moment of a force is computed. 2. Scalar analysis (See textbook)

3. Vector analysis
Point O on axis aa

a b

Ma

O
b Moment axis

Mo= r x F

A
a

Axis of projection

(1) Moment of a force F about point 0

Mo = r F Here, we assume that bb axis is the moment axis of Mo

(2) Component of Mo onto aa axis

Ma = Ma ua Ma=Mo cos =Mo ua=( r F ) ua =trip scalar product Here Ma=magnitude of Ma ua= unit vector define the direction of aa axis

If

U a U ax i U ay j U azk r rx i ry j rz k F Fx i Fy j Fz k then M a Ua ( r F)

U ax U ay U az rx ry rz Fx Fy Fz
4.Method of Finding Moment about a specific axis (1) Find the moment of the force about point O Mo= r x F

(2) Resolving the moment along the specific axis

Ma = Maua = (Moua) ua =[ua ( r x F )]ua

4.6 moment of a couple

1. Definition ( couple)
Two parallel forces have the same magnitude, opposite distances, and are separated by a perpendicular distance d.

d
2. Scalar Formulation (1) Magnitude M=Fd

(2) Direction & sense (Right-hand rule)

Thumb indicates the direction Curled fingers indicates the sense of rotation 3. Vector Formulation M= r x F |M|=M=|r x F |=r F sin =F d

d r

Remark: (1) The couple moment is equivalent to the sum of the moment of both couple forces about any arbitrary point 0 in space.

Mo= rAx( -F )+ rB x F =(-rA+rB) x F =r x F= M

-F

r B
F

rB
o

r
A

(2) Couple moment is a free vector which can act at any point in space.

r
o o

-F A Mo=Mo= r x F=M

4. Equivalent Couples The forces of equal couples lie either in the same plane or in planes parallel to one another.

F d
d

-F

-F

plane A // plane B

B -F
5. Resultant couple moment

Apply couple moment at any point p on a body and add them vectorially.
M2 M1

B
M1

M2

MR=M= r x F

4.7 Equivalent system

1. Equivalent system
When the force and couple moment system produce the same external effects of translation and rotation of the body as their resultant , these two sets of loadings are said to be equivalent. 2. Principle of transmissibility The external effects on a rigid body remain unchanged,when a force, acting a given point on the body, is applied to another point lying on line of action of the force.
line of action

Same external effect

Internal effect ?

F A P

Internal stresses are different.

3. Point O is on the line of action of the force

F A
equivalent

o
Original system

F o

equivalent

-F

o
Sliding vector

4. Point O is not on the line of action of the force

F A o
Original system line of action

Couple moment

F F r

Mc= r x F

M=r x F

o
-F

A o

Force on Point A =Force on point O + couple moment on any point p.

Example:

F A

Point O is on the line of action of the force

F
o d Mo= F d A o

F
X

M= F d (Free vector)

Point O is not on the line of action of the force

4.8 Resultant of a force & couple system

1. Objective Simplify a system of force and couple moments to their resultants to study the external effects on the body.
2. Procedures for Analysis (1)Force summations FR=F1+F2++F (2)Moment summations MR0= MC+r1o*F1+r2o*F2= MC+ M0 MC:Couple moment in the system Mo:Couple moment about pt.O of the force in the system.

4.9 Further Reduction of a force & couple system

1. Simplification to a single Resultant Force
(1)Condition FR MR0 or FR*MR0 = 0 (2)Force system A. Concurrent Force system
F2 F1 FR

Equivalent

=
System

Fn

no couple moment

B.Coplanar Force System

y F3 F2 F1,F2,F3 on xy plane M1&M2:z direction x => MR0=MC+ r * F => FR=F P d= FR F1 MR0

C. Parallel Force System

1. F1 // F2 //// Fn
2. MR0 perpendicular to FR ,
z F1 r1 M1 r3 x M2 F3 x x r2 F2 y MR0 z FR= F y MR0=M+ r*F FR z

=
p o

MR0

d = --------------

2. Reduction to a wrench (1) Condition: FR MR0=M +M// M = moment component FR M// = moment component // FR MR0

|FR|d=|MR0|

FR

(2) Wrench (or Screw) An equivalent system reduces a simple resultant force FR and couple moment MR0 at pt.0 to a collinear force FR and couple moment M// at pt.
MRo

FR

o
M//
FR

a a b

FR

b
o a p b

o
p

M//

b a