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CHAPTER
VECTOR MECHANICS FOR ENGINEERS:
3
STATICS
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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
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eventh
dition
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.
eventh
dition
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.
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
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
eventh
dition
Static of Rigid Bodies: Equivalent Systems of Forces
Rectangular Components of the Moment of a Force
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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dition
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
λx λy λz
M BL = ( xA/ B ) ( yA/ B ) ( z A/ B )
Fx Fy Fz
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.
eventh
dition
Static of Rigid Bodies: Equivalent Systems of Forces
Sample Problem 3.1
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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dition
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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dition
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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dition
Static of Rigid Bodies: Equivalent Systems of Forces
Sample Problem 3.1
OB = 0.24 m.
eventh
dition
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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dition
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
i j k
M A = 0 .3 0 0.08
− 120 96 − 128
Theory of couple:
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.
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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
dition
Static of Rigid Bodies: Equivalent Systems of Forces
Couples Can Be Represented by Vectors
M = M D = (18 in.) j × ( − 30 lb ) k
+ [ ( 9 in.) j − (12 in.) k ] × ( − 20 lb ) i
SOLUTION:
a)Compute the resultant force
for the forces shown and
the resultant couple for the
moments of the forces
For the beam, reduce the about A.
system of forces shown to (a) b)Find an equivalent force-
an equivalent force-couple couple system at B based
system at A, (b) an equivalent on the force-couple system
force couple system at B, and at A.
(c) a single force or resultant.
c)Determine the point of
Note: Since the support application for the resultant
reactions are not included, the force such that its moment
given system will not maintain about A is equal to the
the beam in equilibrium. resultant couple at A.
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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
dition
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
dition
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
dition
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
eventh
dition
Static of Rigid Bodies: Equilibrium of Rigid Bodies
•Reactions equivalent
to a force with
known line of action.
eventh
dition
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
dition
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
= −2320 lb