FORCE SYSTEM RESULTANTS

 
For a system of concurrent forces acting on a particle,  F  0 is a necessary and
sufficient condition for particle equilibrium.

In this chapter we will study non-concurrent force system. In particular we will:

 Introduce the concept of moments
 Present method for determining the resultant of non concurrent forces

4.1 Moment of a force – scalar formulation:

z
(Mo) z

O
y

dy

x
Fx

The force FX tends to turn the pipe about the Z-axis: Fz creates the moment (Mo) z
The moment axis: Z is perpendicular to X-Y plane

O
y

(Mo) X
dy

x
 Fx
The force FZ tends to rotate the pipe about the x- axis
4.2 Cross product:
 
Definition: A method of vector multiplication. The cross product of 2 vectors AandB

yields a vector c
  
C  A B
Magnitude:
C  AB sin 
 
Where  is the angle between AandB
 
Direction:  to the plane containing AandB
Directional sense determined according to the right hand rule
C  A B

.
C  AB sin 
Uc


 A
B
A+B
A
B

 
C  AB sin u c
Law of operation:
 Commutative law is not valid
   
A B  B  A
Rather
   
A  B  B  A

B
C  A B

A
B

 C  A B
A
  Multiplication by a scalar: z
       
a( A  B)  (aA)  B  A  (aB)  ( A  B)a
k  i j
 Distributive law:
      
A  ( B  D)  ( A  B)  ( A  D)
Cartesian vector formulation:
  
i j k
  
j k  i j
  
k i  j y
   i
i k  j
  
j  i  k
   i x
k  j  i
++
  
i i  0 j k
  
j j 0 -
  
k k  0

Given 
  
A  AX  i  AY j  AZ k
  
B  B X i  BY j  BZ
   
A  B  ( AY BZ  AZ B y )i  ( AX BZ  AZ B X ) j  ( AX BY  AY B X ) K

or
  
i j k
 
A  B  AX AY AZ
BX BY BZ
4.3 Moment of a Force - Vector Formulation

The moment of a force F about an axis passing through a point 0 is given by:
  
M  r F
 
where r is a position vector drawn from 0 to any point lying on the line of action of F .


Mo
d



 r O
F

Magnitude: M o  rF sin   F (r sin  )  Fd

Direction: Determined by the right hand rule as for cross product

Cartesian Vector Formulation:

  
i j k
  
M o  r  F  rx ry rz
Fx Fy FZ

where:
rx , ry , rz , : x,y,z and components of a position vector drawn from0 to any

Point on the line of action of F

Fx , Fy , FZ : x, y, and z components of the force vector F
Expanding the determinant yields:
   
M o  (ry FX  rZ F Y )i  (rx Fx  rz Fx ) j  (rx Fy  ry Fy  ry Fx )k
Resultant Moment of a System of Forces:


F2
z 
F1

r2

r1

 r3 O
F3
y
x

  
Mo  r  F
Example 4.3.2:

5m 6m

A
50N

Required
M A andM B
M A  50 N (5  6)  550 Nm
M B  50 N  6m  300 Nm
Example 4.3.2:
B 
90- Z
3 ft
F=75lb
A
Y

X
3 ft O

7 ft 2 ft

Required:A

M o andM A

Solution:
O : (0,0,0)
A : (0,7,3)
B : (0,9,6)
  
M A  rAB  F
  
M o  roB  F
     
F  75(0i  cos(   ) j  sin(   )k )
2 2

3
tan  
2
since   56.31
0

therefore :
   
F  0i  62.4 j  41.6k
   
rAB  0i  (9  7) j  (6  3)k
  
 0i  2 j  3k
   
M A  rAB  F  (ry FZ  rz Fy )i

 (2  (41.6)  3  62.4)i
 
M A  270.4i lbft
   
rB  0i  9 j  6k
   
M 0  rB  F  (ry FZ  rZ FY )i

 (9(41.6)  6  62.4)i
 
M 0  748.8i lbft
Example 4.3.3:
Determine the moment M0
2m

1m

7 KN
4m
M 0  7 KN (4m  1m)  21KNm

4.4 Transmissibility of two forces and the principle of moments:

B

 F
rB
A

rA

Y
O


A force F can act at any point along its line of action and still produce the same moment
about the point o
Mathematically
    
M 0  rA  F  rB  F
Principle of moments:

F
Z 
F1     
M 0  r  F1  r  F2
   
  r  ( F1  F2 )
F2
r

The moment of force about a point is equal to the sum of the moments of the forces
components about that point
Example 4.4.1:
200N

450
d
100mm

100mm 100mm

Required: the moment MA:

Solution:
There are two ways of solving this problem:
 M A  Fd
d  100 cos 45 0
 70.71mm
 0.0707 m
70.71mm
M A  (200 N )  14.1Nm
1000mm / m

200sin450
200N

450
200cos450
0.1m

A
0.2m
M A  (200 sin 450 )(0.2m)  (200 cos 450 )(0.1m)  14.1Nm

4.5Moment of a force about a specified axis:

Problem statement :
Given a moment M about a point O, find the component of this moment along a specified
axis that passes through the point O


Mx

Mo  
u j
o y

My
 
r
do da

X 
F

Scalar analysis:
M o  Fd o
M y  M o cos   Fd o cos   Fd a
da= shortest perpendicular distance from the force line of action to the axis .

Vector analysis:
  
Mo  r  F
 
M y  Mo u
In general , to find the moment about an axis a
   
M a  u a  (r  F )
  
i j k
  
 (u ax i  u ay j  u az k ) rx ry rz
Fx Fy FZ
or
  
M a  u a  (r  F )
u ax u ay u az
 rx ry rz
Fx Fy Fz

 
M a  M aua
   
 [u a  (r  F )]u a
Calculate the effective moment that turns the bolt using the lug Z wench

300
O
Y
300 F  50 N
0.5m B
X

F  50 K
r 0  0.5 sin 30i  0.5 cos 30 j
B

r 0  0.25i  0.433 j
B

M o  r0  F
B

i j k
M 0  0.25 .433 0
0 0  50

M 0  (0.433(50)  0.0)i  (0.25  (50)  0) j

M 0  21.7i  12.57 j

Ma U  M0

U   cos 30i  sin 30 j  0.866i  0.5 j
M a  (0.866i  0.5 j )  (21.7i  12.5 j )  18.75  6.25
 25 Nm

Moment of a couple:
A couple:
Two parallel forces that have the same magnitude, opposite directions , and are separated
by a perpendicular distance d
 
F


F

The moment produced by a couple is called a couple moment

Couple moment =  moment of both forces about any point in space.

B 
 r    
F F rA  r  rB
    
 A M  rA  ( F )  rB  ( F )
rB   
 (rB  rA )  F
  
  M  rF
O rA

Scalar formulation:
M  Fd
F=magnitude of one of the forces
D=perpendicular distance (or moment arm) between the forces.

Vector formulation:
  
M  r F

F


M

r


F
Equivalent couples:
Two couples are equivalent if they produce the same couple moment
100 200

5m
10 m
200
100

Resultant couple moment:

M1 MR

M1
M2
M2
p

  
M R   rX F

4.7 Movement of force on a rigid body:


Changing the location of a force F acting on a rigid body from a position A to a position
O
Two cases

 O is on the line of action of F


F   A
A F F

O F A
O
O

F
  M  rF
 O is not on the line of action of F
F
F
F
F A
A
O r
O
 O -F

   
Translating F from A to O apply the moment M = r  F to the rigid body

Example

4.8 Resultant of a force and a couple system:

Reduction of a system of forces and moments to 1 force resultant and 1 moment resultant

FR

F2 M  r2  F2

F2 F1 F1
F2 M R0
O O
r1 M
r2
M  r1  F1
M
This operation is done in steps:
  
1. Move the forces F1 from its point of application to point O. Obtain F1andM 1
  
2. Move force F2 from its point of application to point O obtain F2 andM 2
3. Move moment M as it is to point O
Then
   
FR   F  F1   F2
    
M RO   M 0  M  M 1  M 2
For three dimensional system s : use Cartesian vectors

Co planar force system:

 Scalar analysis is most convenient
 Resolve forces along the X and Y axes
 Force summation
FRX   FX
FRY   FY
 Moment summation:
M ro   M 0
Algebraic sum of all the moments in the system + moments about O of all the forces.

Special attention must be paid to the directional sense of all the forces components and
moments
Example 4.8.1
Replace the force and couple moment system by an equivalent force and couple moment
acting at a point P

2 ft
60lb
3 ft 1 ft

2 ft
X

2 ft
150lb
1 ft 4 ft
5
5 4
4
3 3
2 ft

150lb

Solution
Force summation:
 
 FRX   Fxj
3 3
FRX  (150)  60  (150)  60
5 5
  FRY   FYj
4 4
FRY  (150)  (150)  0
5 5
FR  F 2
Rx   (60)
 FRy2  2

 0 2  60lb
moment, summation
M RP   M P
4 3
M Rp  60(1)  (150)(3)  (150)(2)  600lbft
5 5
 4.9 Further reduction of force and couple system
Simplification to a single resultant force


F2
 
M2 FR


M RO a
  b
r2  F1
 r1
F4

r3 a
b

F3

M1


FR

a
b
P
O

M Ro a
d
FR

Requirements;
 
 FR , andM Ro , are 
 Point P must lie on the b-b axis
Force system that are either
 Concurrent (line of action of the forces passing through the same point)
 Coplanar
 Parallel
Can always be reduced
Procedure for analysis:
1. Establish an x,y,z co ordinate system
 
FR   F
2. Force summation:
 
3. Moment summation: M Ro   M 0
Example
Replace the following set of forces and moments with an equivalent force

600 N
500N
200 N 300 N
1000 N m
O
2m 3m 3m

First sum all the forces to find the resultant forces

  FR  200  600  300  500  1000 N
sum up the moment about point o

M 0  600  2  300(2  3)  500(2  3  3)  1000

M 0  1200  1500  4000  1000
M  4700 Kn  m

1000 N

4700 KNm

1000 N
x

4700
X   4.7m
1000
4.81. The ends of the triangular plate are subjected to three couples. Determine the plate
dimension d so that the resultant couple is 350 N.m clockwise.

100 N
600 N

100 N
300
600 N

200 N 200 N

MR  M A
 350  200(d cos 30 0 )  600(d sin 30 0 )  100d
d  1.54m
Example 4-82
Two couples act on the beam. If the resultant couple is to be zero, determine the
magnitudes of P and F, and the distance d between A and B.

300 N
300

0.2 m B
A 500 N
600
d 1m 2m

F
P

In order to have two couples

F  300 N
P  500 N
M R  500(2)  300 cos 30 0 (d )  300 sin 30 0 (0.2)  0
d  3.96m
Example 4-83

Two couples act on the frame. If the resultant couple moment is to be zero. Determine the
distance d between the 4O-lb couple forces.
Y
3 ft 4 ft
60lb
4 5
B 3
1 ft 300 5
4
3 60 lb
d

300 2 ft
A
40 lb

4
M c  0  40 cos 30 0 (d )  60 (4)
5
d  5.54 ft
Example 4-86
Determine the couple moment. Express the result as a Cartesian vector

A(-4,-5,6) B(0,-3,8)
Z

F  {50i  20 j  80k}lb

8m
4m
6m
Y
3m 5m
A
 F  {50i  20 j  80k
x
Position vector

rAb  {[10  (4)]i  (3  5) j  [8  (6)]k} ft

 {4i  8 j  14k} ft
couple , moment
with , F  {50i  20 j  80k}lb ,
M c  rAB  F
i j k
 4  8 14
50  20 80
 {360i  380 j  320k}lbft
Example 4-87
Determine the couple moment. Express the result as a Cartesian vector. Each force has a
magnitude of F = 120 lb.

A
F 3ft
-F

B O Y 3ft
3ft
2 ft 3 ft

2 ft 4ft 2ft

Position vector and force vector:

rBA  {(3  2)i  [6  (2)] j  (3  3)k} ft

 {5i  8 j} ft
 [3  (3)]i  (4  6) j  (0  3)k 
F  120 
 
 [3  (3)] 2  (4  6) 2  (0  3) 2  

 {102.86i  34.26 j  51.43k}lb
M c  rAB  F
i j k
 5 8 0
102.86  34.26  51.23
 {411i  257 j  651k}lbft
Example 4-1
Three forces are applied to the bar shown in Fig. 4-2.Determine
a. The moment of force FA about point E.
b. The moment of force FE about point A.
c. The moment of force FD about point B.

FA=100lb A
10 in FE=200lb

8 in
6 in 6 in

B D E

FD=300lb

Solution
The moment of a force about an arbitrary point Ois defined as the product of the
magnitude of the force F and the perpendicular distance d from the line of action of the
force to the point. Thus
M  M0  F d
a) Perpendicular distance from the lines
M E  FA d E / A  100(10)  1000inlb of action of the forces to the points
M E  1000inlb are easily determined therefore
magnitudes of the moments are
b) determined using the definition of a
M A  FE d A / E  200(12)  2400inlb moment (m=Fd)
The direction (sense) of a moment in
M A  2400inlb
simple two-dimensional problems
c) can be specified by using a small
M B  FD d B / D  300(14)  4200inlb arrow about the point. A positive
moment tends to produce a
M B  4200inlb counterclockwise rotation
Example problem 4-2 '
Three forces are applied to a bracket as shown in Fig. 4-3.Determine
a. The moment of force Fc about point B.
b. The moment of force FD about point A.
c. The moment of force FB about point C.

FB=150N

300 FD=120N
120mm
FB

160mm
300
FC=90N

160+120+280
350mm 200mm 140mm
300

M C  150(160  120) cos 30 0

 36373N

Solution
The moment of a force F about an arbitrary point Ois defined as the product of the
magnitude of the force F and the perpendicular distance d from the line of action of the
force to the point . thus
 Perpendicular distance from the lines
of action of the forces to the points
M0  M0  F d
are easily determined therefore
a) magnitudes of the moments are
M BE  FC d B / C  90(160  120)  25.2 Nmm determined using the definition of a
moment (m=Fd)
M B  25.2 Nmm The direction (sense) of a moment in
b) simple two-dimensional problems
M A  FD d A / D  120(350  200)  66.0 Nm can be specified by using a small
arrow about the point. A positive
M A  66.60 Nmm moment tends to produce a
c) counterclockwise rotation
M c  FB d C / B  150(160  120) cos 30 0  36.4 Nm
M C  36.4 Nm
Example 4-8

A 1000-Nforce is applied to a beam cross section as shown in Fig. 4-16.Determine

a. The moment of the force about point O.
b. The perpendicular distance d from point B to the line of action of the force.

100mm 3
A 4

200mm

O
X
150mm

Solution
a. The force F and the position vector r from point 0 to point A can be expressed
in Cartesian vector form as

F  1000(0.8i  0.6 j )  (800i  600 j ) N

r  r A  (0.100i  0.200 j )m
0

i j k
M 0  r  F  rx ry 0  (rX FY  ry FX )k  M Z k
FX FY 0
M 0  (rx Fy  ry FX )k  [(0.100)(600)  (0.200)(800)]k
 100kNm
b)
The moment of a force F
The position vector r from the point B to the point A is
about a point O is given by
r  rA / B  (0.100i  0.350 j )m the vector cross product
M B  (rx Fy  ry FX )k  [(0.100)(600)  (0.350)(800)]k M 0  r  F where r is a
 220kNm  220 Nm position vector from point
O to any point on the line
 M B  220
d   
 1000  0.220m  220mm
of action of force F
 F  Cartesian vector analysis
automatically gives the sign
of the moment
Example 4-9:
Four force applied to a square plate as shown determine the by each of the forces about
the origin O of the xy co ordinate system
Y
F1  60lb 5in 5in F2  100lb
0 5in 0
60 30

10in

F4  75LB
0
40
400

10in F3  80lb

60sin60=52
100sin30=50

100 cos 30  86.60

60cos60=30

80cos40=61.3 75sin40=48.2
80sin40=51.4 75 cos 40  57.5
M 0  60 cos 60(20)  60 sin 60(5)  100 cos 30(20)  100 sin 30(5)  80 cos 40(10)
 80 sin 40(5)  75 cos 40(10)  75 sin 40(5)
 606inlb
The four forces and the four position vectors can be expressed in Cartesian vector form as
F1  (30i  52 j )lb
F2  (86.6i  50.0 j )lb
F3  (61.3i  51.4 j )lb
F4  (57.5i  48.2 j )lb
rA / O  (5i  20 j )in
rB / O  (5i  20. j )in
rC / O  (5i  10 j )in
rD / O  (5i  10 j )in

i j k
M 0  r  F  rx ry 0  (rx Fy  rY Fx )k  M z k
FX FY 0
M 01  (r1x F1 y  r1 y F1 X )k  [(5.0)(52.0)  (20)(30)]k
 340kinlb
M 02  (r2 x F2 y  r2 y F2 x )k  [(5.0)(50.0)  (20.0)(86.6)]k
 1482kinlb
M 03  (r3 x F3 y  r3 y F3 x )k  [(5.0)(51.4)  (10.0)(61.3)]k
 870kinlb
M 04  (r4 x F4 y  r4 y F4 x )[(5.0)48.2)  (10.0)(57.5)]k
 334kinlb

M 0   M 0i  340  1482  870  334  606inlb

Chapter 4: Rigid bodies :
Equivalent force / moment systems

The principle of moments discussed in Section 4-2.1 is not restricted to two concurrent
forces but may be extended to any force system The proof for an arbitrary number of
forces follows from the distributive property of the vector product. Thus,
M0  r  R
R  F1  F2  .....  Fn
M 0  r  ( F1  F2  ......  Fn )
 (r  F1 )  (r  F2 )  ......  (r  Fn )
M 0  M R  M 1  M 2  ......  M n

Equation 4-15 indicates that the moment of the resultant of any number of forces is equal
to the sum of the moments of the individual forces. The following example illustrates the
use of vector algebra for determining moments about a point in three-dimensional
problems.
Example 4-10
A bar is bent and loaded as shown in Fig. 4-21. Determine
a. The moment of force F about point O.
b. The perpendicular distance d from point 0 to the line of action of the force.

Z 75mm

F=875N 140mm
150mm
A
200mm

150mm
Y

250mm
250mm

SOLUTION
a. The force F can be written in Cartesian vector form as
 75i  150 j  140k 
F  875
 
  300.4i  600.8 j  560.7kN
 (75) 2  (150) 2  (140) 2 
The position vector r from point O to point A can be written in Cartesian vector form as
rA / o  .200i  .250 j  0.150k , m
The moment of force F about point O is given by an expression
i j k i j k
M O  rA / O  F  rx ry rz  .200 0.250 0.150
Fx FY FZ 300.4 600.8 560.7
 50.6i  67.08 j  45.06k , Nm
 50.1i  67.1 j  45.1k , Nm

The moment of a force F

b about a point O is given by
The magnitude of the moment M 0 is obtained by using the vector cross product

M0  M0  M 2
x  M y2  M Z2  M 0  r  F where r is a
position vector from point
  (50.06) 2
 (67.08) 2  (45.06) 2  O to any point on the line
of action of force F
 95.06 Nm  95.1Nm
The discussed d is obtained by using the definition of a moment thus

M 95.06
d   108.6mm
F 875

Example 4-11
An 800 lb force is applied to a level shaft assembly as shown Determine
A) Z
The moment of force F about point O

32.5i
n

(32.5,0,40)

O
F

35.0in 27.5in Y
X A
(27.5,35,0)

Solution
a. The force F can be written in Cartesian vector form as
  0.5i  35.0 j  40k 

F  800
   74.93i  524.5 j  599.4 K , lb
 (0.5) 2  (35) 2  (40) 2 
The position vector r from point O to point A can be written in Cartesian vector form as
rA / o  27.5i  35.0 jin
The moment of force F about point O is given by an expression
 i j k i j k
M O  rA / O  F  rx ry rz  27.5 35.0 0 The moment of a force F
Fx FY FZ  74.93 524.5  599.4
about a point O is given by
the vector cross product
 20979i  16484 j  17046k , inlb M 0  r  F where r is a
 21.0i  16.48 j  17.05k , inkips position vector from point
Mo   (21) 2

 (16.18) 2  (17.05) 2  31.67 kip sin O to any point on the line
of action of force F
 31670lbin
M  Fd  31670  800d
31670
d  39.6in
800