08 Couples Equivalence

THE COUPLE MOMENT
A couple is formed by two equal but opposite forces with different lines of action. The two forces form a plane.
F
z
-F
Consider the moment, Mo, about an arbitrary point, O, of the two equal & opposite forces.
Copyright G Golub & G Milano
Couples & Equivalence
eP z d
Consider Mo of the couple: Mo = r1 x F + r2 x (-F)

-F
r1
r2 O
r1/2 q
Mo = r1 x F - r2 x (F)
y
= (r1 - r2) x F = r1/2 x F = r1/2sinq F eP = d F eP
r1 x F - r2 x (F)= (r1 - r2) x F
linearity of vector algebra r2 x (-F)= - r2 x (F) (r - r ) x F = r1/2 x F r1/2sinq = d 1 2 sketch & use basic definition By definition of addition Where eP is in the direction perpendicular to the plane formed by the two forces by definition of the cross-product.
Copyright G Golub & G Milano Couples & Equivalence 2
F z r1 r1/2 d -F
Take the moment of the couple about the point, A. MA = r1 x F +r2 x (-F)
r2
= (r1 - r2) x F
= r1/2 x F = dFeP
A
x
MA = dFeP
The moment of a couple is independent of the point of application. Repeat the process with another arbitrary point A.
SAMPLE PROBLEM Find the resultant of the two

couples shown:
10# 60o 12 10# 4 -4j 12# -12i y (12, 4, 3)
Find M10 by summing moments about point (12, 4, 3) The 10# force lies in the yz plane.
10# -8.66k
60o
3
x 12#
5j
M10 = -12i x 10(.5j - .866k) M10 = 120(-0.5k - 0.866j)
10#
60o
12 3 x 12#
10# 4
-12i y (12, 4, 0)
-4j
12#
Find M12 by summing moments about point (12, 4, 0)

M12 = -4j x 12i = 48k
10#
60o
12 3 x 12# -4j 12# 10# 4 -12i y
M10 = 120(-0.5k - 0.866j) M12 = 48k R = M10 + M12 = -12k - 104j
z 48#
60# 104# y
x
By observation:
-.866j-.5k z 10# 30o 60o 12 3 10# y
Consider M magnitude M10 = 10# X 12 = 120#

Direction is perpendicular to the plane of the moment, clearly in the y-z plane and the inverse of the unit vector of the 10# force.
x
12#
4 48k 12#
-sin30k cos30j = - 0.5k - 0.866j
By observation:
10# -.87j-.5k 60o 12 3 10# y
Magnitude M12 M12 = 4 x 12# = 48#

Direction is perpendicular to the plane of the moment, the x-y plane or the z direction.
x
12#
448k 12#
M12 = (4 x 12)k = 48k
This result may be found by computation or by visualization.

TRANSLATION OF A FORCE TO AN ALTERNATE POINT

Consider a force, F, acting on a body at point, A.
At point, B, add and subtract the same force, F, which changes nothing.
F F
B
-F
Obviously, F is equivalent to, the same as F + F + -F

Regrouping the forces into a force and couple:

F
d
Obviously, F is equivalent to F + dFen
-F F
A
11
Redrawing the force and couple:

F
dFen
Obviously, F (acting at A) is equivalent to F (acting at B) + dFen

12
EQUALITY AND EQUIVALENCE

Two force systems are said to be equal if they are identical.
Two force systems are said to be equivalent if they produce the same mechanical effect.
200#
100#
100#
The two systems shown are equivalent. They produce the same resultant force on the same line of action. They produce the same acceleration on the truck.
Two force systems are mechanically equivalent iff they both reduce to the same force and couple at an arbitrary point, O.
O F1 F
5
O F4
F2
F3
The two force systems are equivalent iff:

EQUIVALENT FORCE SYSTEMS

O F1 r1
There is equivalence iff:

F1 + F2 = F3 + F4 +F5
r2 F2
and
r1xF1 + r2xF2 =
r3xF3 + r4xF4 + r5xF5 The resultant force in each case The resultant moment about an is the same arbitrary point is the same.
Couples & Equivalence 15
F4 F5 r3 F3 r5
r4
These two systems are equivalent: 2

-dF F F
d
.A
F(1) = F(2) obvious
A
In 2, move F a distance, d.
Add a couple of magnitude -dF
MA(1) = 0 = MA(2) = dF - dF = 0
- Fd F F
.A
.A
A force may be replaced by a system of a force and a couple. Obviously, the reverse must also be true.
Visualization of Equivalence Process Consider that you are standing on a seesaw at its middle. You weigh 200#. The support at the middle will destruct if it detects a weight greater/less than 200#. The seesaw is built over a pond filled with hungry alligators. To reach safety, you must walk to the end of the seesaw. If the seesaw tilts, you are alligator food. To help you, you are given two magical 1,000# forces that you can place anywhere on the seesaw and move as you walk. you
18
Visualization of Equivalence Process
you
19
Consider that you are standing on a seesaw at its middle. You weigh 200#. The support at the middle will destruct if it detects a weight greater/less than 200#. The seesaw is built over a pond filled with hungry alligators. To reach safety, you must walk to the end of the seesaw. If the seesaw tilts, you are alligator food. To help you, you are given two magical 1,000# forces that you can place anywhere on the seesaw and move as you walk.
What do you do?
you
20
Place the 1,000# forces at the left end of the seesaw one acting up and one acting down. The total load at the pin is still 200# acting downward. As you slowly slide to the right, you drag the upward 1,000# force with you at 1/5 the speed.
1,000#
You 200#
1,000#
As you slowly slide to the right, you drag the upward 1,000# force with you at 1/5 the speed. When you have moved 1 to the right, the upward 1,000# force moves 0.2 to the right.
1,000#
You 200#
1,000#
When you have moved 1 to the right, the upward 1,000# force moves 0.2 to the right. At this point, view equilibrium:
S Fx = +1,000 1,000 200 + 200 reaction unchanged S Mpin = - 200 x 1 + 1,000 x 0.2 =0
1,000#
You You 200# 200#
1,000#
0.2
Continue moving to the tight while moving the lower 1,000# force 1/5 the distance at the same time. The two 1,000# forces comprise a couple that counters the tendency to rotate the seesaw while you slowly move to leave to safety.
1,000#
You 200#
24
SAMPLE PROBLEM Replace the force shown by a

force couple system at C.
y
3000#
The forklift is carrying a 3000# load as shown. Find an equivalent force couple system at the axle of the front wheel. This allows us to evaluate the force on the front wheel as well as the tendency of the weight to cause the truck to rotate about the front wheel.
25
C
5
3000#
3000#
1st - translate the force to the axle. Add and subtract 3,000# forces at C.
x
The two forces shown as dashed lines form a couple
3000#
3000# y
3000#
2nd - the couple at the axle equals the moment of the original force about the axle or the couple of the two dashed line forces.
x
Maxle
Maxle = 5i x -3,000j = -15,000#k
27
3000# y
Maxle = -15,000k#
Maxle
The force couple system at the axle are equivalent to the force of the three boxes shown.
REDUCTION OF A SERIES OF FORCES TO A SINGLE FORCE AND COUPLE

F2
r2 O r1 r3 F1
The force system shown can be reduced to a single force and couple about an arbitrary point.
R = SFi
i=1..3
Mo = Srix Fi i=1..3 To clarify the notation used:
F
3
SFi =F1 + F2 + F3
Copyright G Golub & G Milano Couples & Equivalence
i=1..3
29
R = SFi i=1..3
Mo = Srix Fi i=1..3
O
In general, R & Mo are not orthogonal.

R
Mo
30
F2
r2 O r3 O r1 F1 R F
3
Mo
The two systems are equivalent. They produce the same resultant force and couple about an arbitrary point, O.
SPECIAL CASES -- CONCURRENT FORCES A set of concurrent forces always reduces to a single force at the point of concurrency. Summing moments about the point of concurrency always equals zero. Mo = Srix Fi = 0 since ri is always zero. hence, R = SFi
F2
R
O F1
F3
COPLANAR FORCES A set of coplanar forces - all forces lie in a plane, always reduces to either a single force or a single moment.
33
F2
r2 O r1 r3 F1
Given a set of coplanar forces, it is equivalent to the following:
F3
equivalent to
Summing forces and moments about an arbitrary point, O, must always yield a resultant, R in the plane, plus an Mo perpendicular to the plane.
R
Mo
Since all ri and Fi lie in the plane, then all ri x Fi are perpendicular to the plane, by definition.
F2
r2 O r1 r3 F1
F3
equivalent to
Shifting the force a distance, equal to Mo/R, gives an equivalent force system of a single force. Rd = Mo
Equivalent to
R
O d R
Mo
35
PARALLEL FORCES IN SPACE A set of parallel forces in space always reduce to a single force or a single couple R = F1 + F2 + F3 Mo = r1xF1 + r2xF2 + r3xF3
y F1 r1 r2 z
y F3 x => Mo R x z
r3 F2
36
Translate R to a new location, A, such that
r x R = Mo
The two systems are seen to be equivalent,
y R
y r x =>
R=R
SMo = Mo = rxR = Mo
x
M
o
r x R = Mo
37
SAMPLE PROBLEM
The tugs shown, each apply four kilo-Newton forces to the liner as shown. The captain understands the effect of a force and a couple at the mainmast, point, O. Find the equivalent force system at point, O.
O
The forces of the tugs are shown on the following diagram.

4kN y 3 O 4
20m 50m
30m
100m
x 60o 4kN 4kN
45o 4kN
39
Find an equivalent force system R, Mo at O

R
4kN y 4 3 30m 100m 60o 4kN 4kN
Mo
20m 50m =>
25m x 25m
45o 4kN
40
R
4kN y 4 3 30m
. 8*4 . 6*4
Mo
20m 50m =>
100m 60o 4kN 4kN
25m 25m
45o
.707*4 .707*4
4kN
. 5*4
.866*4
The components of the forces are shown in red.

R 4kN y 3 O Mo 4
. 8*4 . 6*4
25m 25m 60o 4kN 4kN
20m 50m
30m
100m
45o 4kN
.707*4 .707*4 .866*4
. 5*4
Going counter-clockwise around the ship: R = 4(.707)(i + j) + 4j + 4(-0.5i +0.866j) - 4(0.6i +0.8j) = 4i(0.707 - 0.5 -0.6) + 4j(0.707 + 1 +0.866 - 0.8) = -1.572i + 7.092j kN Mo = 4(.707)(20+25)k + 4(100)k - 4(.5)25k +4(.866)200 4(.6)25k G 4(.8)70k = 886k & Equivalence Copyright G Golub & - Milano Couples k-Nm 42
TWO FORCE MEMBERS
Consider the large crane shown lifting a 2 ton girder. The boom extension at the top is hinged at one end and has a pulley at the other end.
pulley
hinge
Consider the free body diagram of the upper piece of the boom.
standoff
pulley
boom
The upper boom is subject to forces from the main boom, the standoff piece and the cable that passes over the pulley at the end. Drawing a free body diagram of the upper boom .
Fbrace
T1 cable force
2
r2/1
1
Fboom
T2 cable force
Summing moments about point 1, T1 and T2 will cause moments that must total to zero for equilibrium.
M 1 r2 /1 x(T1 T2 ) 0
Fbrace
T1
2 r2/1 1
M 1 r2 /1x (T1 T2 ) 0
T2
Fboom
r2/1 is not null. T1 + T2 is not null in general. Therefore T1 + T2 must have a line of action that passes through point 1 & thus causes no moment.
Fbrace
T1 T2
2 1
T1 + T2
Replaced by:
Fboom
Similarly, Fbrace + Fboom must sum to a vector with line of action

from point 1 to point 2 for the boom to be in equilibrium, since, the moment about point 2 produces the same result on Fbrace & Fboom as summing moments about point 1.
Fbrace
T1
T1 + T2
Fbrace+ Fboom
Fboom
2 1
T2
In a two force member, loads applied at only two points on the body, the resultant of the forces applied at each point must equal a vector with line of action connecting the two points.
Fbrace
T1
T1 + T2
Fbrace+ Fboom Fboom
2 1
T2
T1 + T2 = Fbrace+ Fboom
Forces are equal opposite and collinear
This is a very important principle which is the basis for trusses, a very important structural element.
THREE FORCE BODIES in a Plane

Consider the planar body shown with three applied forces.
S
R F
51
Consider the intersection of F and R at point A.

S
R F
52
Summing moments about A, F and R produce no moment. Thus, the moment caused by S must also be zero for equilibrium.
S
Therefore, S must pass through A. The three forces must be concurrent
R F
The exception to this rule occurs when the three forces are parallel.
Emphasizing this point: Assume that S doesnt pass through A as shown. S obviously causes a moment about A which equals dxS which is greater than 0.
A
d
This means the body is not in equilibrium.

Therefore, d=0, or S must pass through A. R
F
For equilibrium, where F, S, R are parallel,
F+R+S=0
R F
& the moments about any point must be zero. S=20#, F=10# R=10#
e.g. assume that It is clear that
F+R+S=0
If the space between S & F is 1, then the space between S & R must also be 1 for equilibrium. Sum moments about a point on F. 20#(1)-10#(2)=0

08 Couples Equivalence

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THE COUPLE MOMENT

Copyright G Golub & G Milano

Couples & Equivalence

Consider Mo of the couple: Mo = r1 x F + r2 x (-F)

= (r1 - r2) x F = r1/2 x F = r1/2sinq F eP = d F eP

r1 x F - r2 x (F)= (r1 - r2) x F

SAMPLE PROBLEM Find the resultant of the two

M10 = -12i x 10(.5j - .866k) M10 = 120(-0.5k - 0.866j)

Copyright G Golub & G Milano

Couples & Equivalence

Find M12 by summing moments about point (12, 4, 0)

Copyright G Golub & G Milano

Couples & Equivalence

M10 = 120(-0.5k - 0.866j) M12 = 48k R = M10 + M12 = -12k - 104j

Consider M magnitude M10 = 10# X 12 = 120#

-sin30k cos30j = - 0.5k - 0.866j

Copyright G Golub & G Milano

Couples & Equivalence

Magnitude M12 M12 = 4 x 12# = 48#

M12 = (4 x 12)k = 48k

This result may be found by computation or by visualization.

TRANSLATION OF A FORCE TO AN ALTERNATE POINT

Copyright G Golub & G Milano

Couples & Equivalence

Obviously, F is equivalent to, the same as F + F + -F

Regrouping the forces into a force and couple:

Obviously, F is equivalent to F + dFen

Copyright G Golub & G Milano

Couples & Equivalence

Redrawing the force and couple:

Copyright G Golub & G Milano

Obviously, F (acting at A) is equivalent to F (acting at B) + dFen

EQUALITY AND EQUIVALENCE

The two force systems are equivalent iff:

EQUIVALENT FORCE SYSTEMS

There is equivalence iff:

Copyright G Golub & G Milano

These two systems are equivalent: 2

Add a couple of magnitude -dF

Copyright G Golub & G Milano

Couples & Equivalence

Visualization of Equivalence Process

Copyright G Golub & G Milano

Couples & Equivalence

What do you do?

Copyright G Golub & G Milano

Couples & Equivalence

You You 200# 200#

Copyright G Golub & G Milano

Couples & Equivalence

SAMPLE PROBLEM Replace the force shown by a

Copyright G Golub & G Milano

Couples & Equivalence

The two forces shown as dashed lines form a couple

Maxle = 5i x -3,000j = -15,000#k

Copyright G Golub & G Milano

Couples & Equivalence

REDUCTION OF A SERIES OF FORCES TO A SINGLE FORCE AND COUPLE

Mo = Srix Fi i=1..3 To clarify the notation used:

In general, R & Mo are not orthogonal.

Copyright G Golub & G Milano

Couples & Equivalence

Copyright G Golub & G Milano

Couples & Equivalence

.7074 .7074 .866*4