1/14/2011

CHAPTER3: Couples
CouplesandtheirEffects

Couples
Apairofforcesof: Equalmagnitudes Opposite directions di ti ParallelLOAs
d

Couples:Application
If you can't turn the nut of a wheel... what do you do to turn it? You can call a stronger person to turn it, thereby increasing F, or You can place your hands farther apart on the wrench, thereby increasing d.
4

A couple tends to cause rotation of an object even though the vector sum of the forces is zero.
3

Whyaretheseforces noncouples?

Canyouidentifythe couples?
F6 F4 F3 F1 F2 F5 F7

1/14/2011

ExternalEffectofa Couple
Acouplecanonly causerotationofan object. Theresultantforce ofacoupleiszero. Itsresultant momentisnotzero.
7

Moment ofa Couple

MomentofaCouple
y 5m C 3m 1m A 1N E 1m B 1m 3m 1N D

MomentofaCouple
F

M p = r1 xF + r 2 x(F)
= r1 r 2 xF

( )[
( )

r r r r r r ) M C = (3i m 1 j N ) + (5i mr1 j N r = 2k Nm r r r r i 2 M D = (3r m 1rj N ) + (r1i m r1 j N ) = r k Nm r M E = (1i m 1 j N ) + (1i m 1 j N ) = 2k Nm

.

r1
P

r2

r r = r1 r 2

)
10

M p = rx F

Moment of a COUPLE is CONSTANT.

9

ExampleA
TheforceF is10i 4j (N).Determinethe momentofthecouple.
r F

Solution

r F

(6, 6, 0) m

r r

(6, 6, 0) m

r r = 2 i + 3 j r r r M = r x F = 2 i + 3 x 10 i 4 j j r M = 22 k (N m )

(8, 3, 0) m r F

)[(

)]
r F

r r r r r M = r1 x F + r2 x F
(8, 3, 0) m

[ ( )]
k i j k

r P (10, 7, 3) m r2

r F
11

r M = 2 4 3 + 4 1 3 10 4 10 4 0 0

(6, 6, 0) m

r r1

(8, 3, 0) m r F

r M = 22 k (N m )

12

1/14/2011

CoupleMagnitude:Fd
Fromthedefinitionofthemomentofacouple,it followsthattwocouples,oneconsistingoftheforces F1 andF2,willhaveequalmomentsif

EquivalentCouples
Two couples are said to be equivalent if and only if their moments have the same magnitude and direction. I addition, since M = r x F th di ti In dditi i F, the orientation of the planes of r and F should be the same.

F1 d 1 = F2 d 2
r F 1
d1

r F 1

r F 2
r F2
d2

13

14

EquivalentCouples
Characteristics of a Couple
Magnitude, M = Fd Direction (clockwise or counterclockwise) Aspect or Orientation of the plane where force (that make up the couple) are.

Transformationofa Couple
1) The magnitude of the forces that make up the couple can be changed with an opposite change in the perpendic lar distance without changing perpendicular itho t the effect (magnitude) of the couple.
10N
1.0m 0.5m

20N

10N

20N

15

16

Transformationofa Couple
2) The directions of the forces can be changed as long as the magnitude of the couple and the orientation of the plane where the p forces are acting remains the same.
10N
1.0m 1.0m

Transformationofa Couple
3) Two couples having the same moment M, M are equivalent i l t even if they are at different planes as long as those 2 planes are parallel.
z 10N

r M
1.0m

r M'
y

1.0m

10N

10N x

10N

10N

10N

17

18

1/14/2011

AdditionofCouples
The sum of two couples M1 and M2 is a couple with M equal to the vector sum of M1 and M2.
s r r M = M1 + M 2
r M2
+ =

ExampleB
SumoftheMomentsdueto2Couples Determine the sum of the moments exerted on the pipe by the two couples.
z 20N 30N
2m

r M1

r M
30N

20N y

60O 4m

4m

60O
19

20

Solution
z
30sin60O 30sin60O M 2 30cos60O

20N M1

DoubleArrowNotation forCoupleVectors
20N y z

M3 x
30cos60O

CoupleVector Couple Vector

Force Vector

r M 3 = 30 cos 60 o (4m ) k = 60k (N m ) r r r r + 103.9 60k (N m ) M = M 1 + M 2 + M 3 = 40 i j

21

r M 1 = 20 N (2m) i = 40 i (N m ) r M 2 = 30 sin 60 o (4m ) = 103.9 (N m ) j j

r M

r M
y

( )

x
22

CoupleVectors
Couplevectorsobeythelawofvectoraddition.
The couple vector M may be resolved into component vectors Mx My , and Mz directed along the axes of coordinates and representing couples acting, respectively in the yz, xz, and xy planes.
z
r MZ

ExampleC
Findtheresultantofthe3couples.
z 270Nm

r M
z x y

r y MY

220Nm
1.2m

y
60O

r MX

200Nm
0.9m

x x
23 24

1/14/2011

Solution
r M 1 = 270k (N m )
r 4 3 M 3 = (200 ) i (200 )k = 160 i 120 k ( N m ) 5 5

z 270Nm

Solution
220N m y

r M = 160 i 190.5 + 40k (N m ) j

2 2 2 M = M X + MY + M Z =

1.2m

200Nm
0.9m

60O

( 160)2 + ( 190.5)2 + (40)2

X = cos 1

= 252.0 N m

r M 2 = 220 cos 30 o 220 sin 30 o k = 190.5 110k (N m ) j j

r M

r MX = M X i = 160 i (N m ) r M Y = M Y = 190.5 (N m ) j j r M Z = M Z k = (270 110 120)k = 40k (N m)

r MZ

r MX

Y = cos 1
y

MX 160 = cos 1 = 129.4 o M 252 MY 190.5 = cos 1 = 138.9 o M 252

r MY
x
26

Z = cos 1

MZ 40 = cos 1 = 80.9 o 252 M

25

CHAPTER3: Reductionof ForceSystems

ReductiontoForceCoupleSystem
28

Principleof Superposition
Forces can be added/subtracted to a given force system without changing the external effect of the forces so long as the resultant of the forces added/subtracted equals zero, i.e. the forces are in equilibrium.

ResolutionofaForce intoaForceCouple
r F
r rA O

ResolutionofaForce intoaForceCouple
r F
r rA O

r MO

r MO

r F

r F

r F

r F

O
r rA O

r F
A

r F

r F

O
r rA O

r F
A

r r r M O = rA O x F

r r r M O = rA O x F

29

Any force F acting on a rigid body may be moved to an arbitrary point O, provided that a couple is added, of moment equal to the moment of F about O (Mo = rA/O x F ).

30

The couple tends to impart to the rigid body the same motion of rotation about O that the force F tended to produce before it was transferred to O. The force F and couple M at O is referred to as forcecouple system.

1/14/2011

ResolutionofaForce intoaForceCouple
Equivalentforcesystems sameexternaleffect
Acting force system 1m i - 4N j Equivalent force couple system t - 4N j - 4Nm k

TransferringaForceCouple SystemtoAnotherPoint
r Mo
O B A

r F
=
B

r Mo

r F

r O rO B
B

r FB A

O B

r F
A

r FB

r MB

r r r r M B = M O + rO B xF

When you transfer the location of a force, a couple is added to preserve the effect of that force on the objects tendency to rotate.
31

32

When you transfer the location of a force couple system, a couple is added (r from point of transfer to original location crossed with F ) to the given couple.

ExampleD
RepresentthegivenforceFA=10i+4j 3k(N) byaforceandacoupleatB.
z

Solution
Forceactingatpt.B

r FB = 10 i + 4 3k ( N ) j
r rA B = 4 i + 4 4k (m ) j

B(8, 0, 6)m

A(4, 4, 2)m

r MB
x

r F = 10 i + 4 3k (N ) j

B(8, 0, 6)m

A(4, 4, 2)m

k i j r r r M B = rA B x F A = 4 4 4 = 4( 3)i + ( 4)(10) + ( 4)(4)k (10)(4 )k (4 )( 4 )i ( 3)( 4 ) j j

r (F
x
33

= 10 i + 4 3k (N ) j

)
34

10

4 3

r M B = 12 i 40 16k 40k + 16 i 12 j j (N m ) = 4 i 52 56k j

ReductionofaSystemofForces toaForceCoupleSystem
r F1
r rA O

TransferringtheResultantForce CoupleSystemtoAnotherPoint
r M OR
O r rO O '

B O
r rC O

r F2

r F1
O

r M2
B

r rB O

r F2
r F3
r M OR

r R
O

r R
O O O

A C

r F3

A r M1

r R

O O

r M3

r M O 'R

r R=

r
r MO =

r M OR =

r r r r r r r r ri x Fi = r A O x F1 + rB O x F2 + rC O x F3
35

) (

) (

) (

r r r r M O ' R = M OR + rO O ' x R
.

)
36

1/14/2011

ExampleE
Two forces are acting on a pipe. Represent the system by (a) a single force acting at the origin O of the coordinate system and a single couple and (b) a single force.
y (a)

Solution
r R = 30 + 20 i + 20 = 20 i + 50 (kN ) j j j

r M O = 3 i x 30 + 5 i x 20 i + 20 + 210k j j = 90k + 100k + 210k = 400k (kN m )

) [ (

)]

30 (kN ) j

20i + 20 (kN ) j
210k (kN m)

y x

r R = 20i + 50 (kN ) j
r M = 400k (kN m)
x

O
3m 2m

37

38

Solution
(b)TolocatethepositionofR y
r R = 20i + 50 (kN ) j

ExampleF
Aforcesystemisgivenbytheff. Represent
r F A = 10 i + 10 15k (kN ) j r FB = 30 i + 5 + 10k (kN ) j
x

r R
O

r M = 400k (kN m)

r M C = 90 i + 150 + 60k (kN m ) j

r r r M O + rO O ' x R = 0

r R

r MC

the above force system by a force R acting at P and a couple M.

y

400k + d i x 20 i + 50 = 0 j 50d k = 400k

)]

r R = 20i + 50 (kN ) j
O d
39

r FB
x
(6, 0, 0)m

r FA
P(4, 3, -2)m

d = 8.0 m

40

r r r RP = FA + FB = 10 i + 10 15k + 30 i + 5 + 10k j j r RP = 20 i + 15 5k (kN ) j

Solution
) (
) [( )(

)
)]

Solution
z P x

r r r r r r M P = M C + rB P x FB + rA P x F A

= 90 i + 150 + 60k + 2 i 3 + 2k x 30 i + 5 + 10k j j j x 10 i + 10 15k + 4 i 3 + 2k j j k i j i j k = 90 i + 150 + 60k + 2 3 2 + 4 3 2 j

) (
)

[(

)( )]

r MP

r RP = 20 i + 15 5k (kN ) j

r R

30

10

10 10

15

r M P = 105 i + 110 + 90k (kN m ) j

41 42

r M P = 105 i + 110 + 90k (kN m ) j

1/14/2011

Typesofforcesystems
y x z
ConcurrentForceSystem ParallelForceSystem

Typesofforcesystems
y x z ConcurrentForceSystem Concurrent Force System y x
Except for the concurrent force system, forces cant be instantly added. Why? Because their LOAs dont have A common point of intersection.

y x

y x

x
CoplanarForceSystem GeneralForceSystem
43

x CoplanarForce System ParallelForce System

GeneralForce System

44