Moment of a Force

Chapter 4 Objectives :
Students will be able to:
a) Define moments due to forces
b) Determine moments of a force in
2D and 3D cases
c) Determine the moment of a force
about an axis
d) Define couples
e) Determine moments due to couples
f) Represent a system of forces and
couples by equivalent systems
Using a wrench to apply a
moment (torque) to a nut
APPLICATIONS
Beams are often used to bridge gaps in walls.
The location of force F has an impact on the values of the reactions at
points A and B.
Determining these reactions may involve calculating the moment due
to force F on point A.
APPLICATIONS
- The claw on the end of a hammer can be used to remove a nail.
- How does the force applied on the handle (FH) affect the force on the
nail (FN)?
- This problem typically involves calculating the moments due to the
forces about a point (point O for example).
Moment of a Force about a Point - Section 4.1
The moment of a force about a point provides a measure of the tendency
for rotation (sometimes called a torque).
Moment of a Force about a Point - (continued)
d is the perpendicular distance from point O to the line of action of the
force.
The direction of the moment is always in a direction that is
perpendicular to the plane containing F and d.
For the 2D case, the direction of M
O
is either clockwise (CW) or
counter-clockwise (CCW), depending on which way the object would
tend to rotate
The moment of a force about a point:
Is a vector quantity, so it has both magnitude and direction.
For the 2D case, the magnitude of the moment is
d F M
O
=
Moment of a Force about a Point - (continued)
CCW in lb 250 M
in 10 d and lb 25 F If
O
=
= =
CW in lb 250 M
in 10 d and lb 25 F If
O
=
= =
CROSS PRODUCT (Section 4.2)
Finding moments in 3D:
Finding the perpendicular distance d
between a force and a point in a 2D
problem is fairly straightforward.
This is more difficult in 3D.
z
y
x
A different method is typically used in 3D using a cross product.
A cross product is a mathematical operation involving vectors. Cross
products are used in various areas of engineering.
In Statics, cross products are used to calculate moments in 3D problems.
Lets see how to find a cross product, then we will use it to find
moments.
CROSS PRODUCT (Section 4.2)
In general, the cross product of two vectors A
and B results in another vector, C , i.e.,
C =A B.
The magnitude of vector C is
C = |A B| = A B sin u
The direction of C is perpendicular to the
plane containing vectors A and B as
determined using the right-hand rule.
The result of the cross product can be
expressed as a vector as follows:
C = A B = A B sin u u
C
where u
C
is the unit vector perpendicular to
the plane containing vectors A and B.
Using the RIGHT
HAND RULE to show
the direction of C
CROSS PRODUCT (continued)
The right-hand rule is a useful tool for determining the
direction of the vector resulting from a cross product.
For example: i j = k
Note that a vector crossed into itself is zero, e.g., i i = 0

Cross product of Cartesian unit vectors:
0
0
0
= = =
= = =
= = =
k k i k j j k i
i j k j j k j i
j i k k i j i i

Cross product in terms of rectangular coordinates
( ) ( ) k Q j Q i Q k P j P i P V
z y x z y x

+ + + + =
( ) ( )
( )k Q P Q P
j Q P Q P i Q P Q P
x y y x
z x x z y z z y

+
+ =
z y x
z y x
Q Q Q
P P P
k j i


=
i j k i j k
+
-
Memory Aid:
Memory Aid:
CROSS PRODUCT (continued)
CROSS PRODUCT (continued)
Finding the cross product using a determinant.
Each component can be determined using 2 2 determinants.
Example: Finding a cross product
a) Term by term
b) Using a determinant
c) Using a calculator (refer to the handout: "Cross and Dot Products)
B A calculate then 5k, - j 2i B and 4j - 3i A If + = =
MOMENT OF A FORCE VECTOR FORMULATION - (Section 4.3)
Moments in 3D are generally calculated using a vector cross product.
Using the vector cross product, M
O
= r F .
Here r is the position vector from point O to any point on the line
of action of F.
MOMENT OF A FORCE VECTOR FORMULATION (continued)
So, using the cross product, a
moment can be expressed as
By expanding the above equation using 2 2 determinants (see
Section 4.2), we get (sample units are N-m or lb-ft)
M
O
= (r
y
F
Z
- r
Z
F
y
) i - (r
x
F
z
- r
z
F
x
) j + (r
x
F
y
- r
y
F
x
) k
Properties of Cross Products
Properties of cross products:
- are not commutative,
- are distributive,
- are not associative,
( ) Q P P Q =
( )
2 1 2 1
Q P Q P Q Q P + = +
( ) ( ) S Q P S Q P =
Varignons Theorem:
When the distributive property above is applied to calculating
moments, it is sometimes called Varignons Theorem:
( )
R 2 1 2 1
F r F F r F r F r = + = +
Significance: If two forces act at a single point we can
calculate the moment due to each force separately or find the
moment due to the sum (resultant) of the forces.
Demonstration: Rope and
wrench. Illustrate how the
angle and location of rope
affects the moment produced
on the bolt.
Example: Determine the moment about point
A due to the 10 lb force applied to the wrench
in each case below.
A
8"
10 lb
A
8"
10 lb
A
8"
10 lb
A
8"
10 lb
53.13
o
36.87
o
1)
2)
3)
4)
Demonstration Calculating moments in 2D
Conversion Factors:
1 Nm = 8.8507 lbin = 0.73756 ftlb
1 lbft = 12.0 lbin = 1.3558 Nm
1 lbin = 0.083333 lbft = 0.11298 Nm
Common Torque Specifications
Common Torque Specifications
(lb ft) (lb ft)
Torque Wrenches
Park TW-2 Torque Wrench
3/8" drive, 0-600 in-lb
Craftsman Microtork
Torque Wrench
25-250 in-lb 3/8-in Drive
Craftsman Electronic Torque Wrench,
3/8 in. Drive. Adjusts from 10 to 100 ft-lb
Ingersoll Rand Air Impact Wrench
3/8 Drive, 180 ft-lb Torque
Calculation of moments in 2D several approaches may be taken to
calculate the moment about point A due to the force shown below:
1. Using F

, the perpendicular () component of the force. M

A
= (d)(F

)
F
d
A
F
d
A
F

2. Using d

, the perpendicular () component of the distance. M

A
= (d

)(F)
F
d
A
d

Calculating moments in 2D 4 methods
3. Using rectangular components for F and d. M
A
= (d
x
)(F
y
) + (d
y
)(F
x
)
F
d
A
F
y
F
x
d
y
d
x
4. Using a cross product. This method is primarily used in 3D, but could be
used in 2D problems also. We will come back to this method later.
determine the sign of each part by inspection
CCW moments are +
CW moments are -

Calculating moments in 2D 4 methods (continued)
F r M
A
=
A 100 lb force is applied to an 18 inch bar as shown below.
Determine the moment about point A due to the 100 lb force by:
1. Finding the perpendicular component of the force.
2. Finding the perpendicular component of the distance.
3. Using rectangular components of the force and the distance.
4. Using a cross product.
30
65
100 lb
A
EXAMPLE Finding a moment in 2D.
EXAMPLE Finding a moment in 2D
Solution
F
y
= 100 (3/5) N
F
x
= 100 (4/5) N
M
O
= { 100 (3/5)N (5 m) (100)(4/5)N (2 m)} N m
M
O
= 460 N m (or M
O
= 460 N m CW)
Note: CW moments are
negative and CCW
moments are positive
Determine the moment about point A
due to the 100 N force.
EXAMPLE Finding a moment in 2D
A 13.2 N force P is applied to the
lever which controls the auger of a
snow blower. Determine the
moment of P about o when a is
equal to 30.
EXAMPLE Finding a moment in 2D
Determine the moment due to
the three forces:
a) about point A on the beam
b) about point B on the beam
1) Find the position vector, r
OB
:

2) Determine M
O
= r
OA
F .
o
Find the moment due to force F
about point O.
Plan:
EXAMPLE Finding a moment in 3D
Solution:
r
OB
= {0i + 3j + 1.5k} m
M
O
= r
OA
F = (0i + 3j + 1.5k) x (-6i + 3j + 10k)


i j k
0 3 1.5
6 3 10
M
O
= = [{3(10) 1.5(3)} i {0(10)
1.5( 6)} j + {0(3) 3( 6)} k] N m
= {25.5 i + 9 j + 18 k} N m
o
A wooden board AB, which is used as a temporary
prop to support a small roof, exerts at point A of
the roof a 228 N force directed along BA.
Determine the moment about C of that force.
EXAMPLE Finding a moment in 3D
EXAMPLE Finding a moment in 3D
Before a telephone cable is strung, rope BAC is tied
to the stake at B and is passed over a pulley at A.
Knowing that portion AC of the rope lies in a plane
parallel to the yz plane and that the tension T in the
rope is 124 N, determine the moment about O of the
resultant force exerted on the pulley by the rope.
(Discuss Varignons Theorem).
MOMENT ABOUT AN AXIS Application
With the force P, a person is
creating a moment M
A
. Does
all of M
A
act to turn the
socket?
No. We need to calculate
the component of the
moment that is along the
axis of the socket.)
Sketch M
A
and the
component of M
A
along the
axis of the socket.
MOMENT ABOUT AN AXIS Application
Sleeve A of this bracket can
provide a maximum
resisting moment of 125
N m about the x-axis. How
would you determine the
maximum magnitude of F
before turning about the x
axis occurs?

Only the x-component of
the moment causes the
bracket to turn.
First compute the moment of F
about any arbitrary point O that
lies on the a- a axis using the cross
product.
M
O
= r F
Now, find the component of M
O
along the axis a- a using the
dot product.
M
a-a
= u
a
M
O
Our goal is to find the moment of F
(the tendency to rotate the body)
about the axis a- a.
Finding the Moment about an axis
u
a
represents the unit vector along the axis a-a axis,
r is the position vector from any point on the a-a axis to any
point A on the line of action of the force, and
F is the force vector.
M
a- a
can also be obtained as
The above equation is also called the
triple scalar product.
Finding the Moment about an axis - continued
EXAMPLE Finding the moment about an axis
Given: A force is applied to
the tool to open a gas valve.
Find: The magnitude of the
moment of this force about
the z axis of the value.
Plan:
1) Use M
z
= u (r F).
2) Note that u = 1 k.
3) The vector r is the position vector from A to B.
4) Force F is already given in Cartesian vector form.
A
B
EXAMPLE (continued)
A
B
u = 1 k
r
AB
= {0.25 sin 30 i + 0.25 cos30 j} m
= {0.125 i + 0.2165 j} m
F = {60 i + 20 j + 15 k} N
Now find M
z
= u (r
AB
F)
A
B
0 0 1
0.125 0.2165 0
-60 20 15
M
z
= = 1{0.125(20) 0.2165(60)} =15.5 N m


0 0 1
0.125 0.2165 0
-60 20 15
Alternate approach: Since u is along a primary axis, we can use an
easier approach. Find M
A
and M
z
is simply the z-component of M
A
.
M
A
= r
AB
x F = {0.125i + 0.2165j} x {60i + 20j + 15k}
M
A
= {3.25i - 1.875j + 15.5k} Nm
so
M
z
= 15.5 Nm
EXAMPLE Finding the moment about an axis
The triangular plate ABC is supported by
ball-and-socket joints at B and D and is held
in the position shown by cables AE and CF.
If the force exerted by cable AE and A is 220
lb, determine the moment of that force about
the line joining points D and B.
(Pass around in class if available.)
Using a ratchet with a
swivel head is useful for
getting into hard to reach
places, but swiveling the
head reduces the moment.

Example: See next slide
Standard head ratchet
Swivel head ratchet
EXAMPLE Finding the moment about the axis of the
socket for a swivel head ratchet
20 lb
y
z
x
20 lb
y
z
x
Standard head ratchet: If the
ratchet arm is 10 in length and
the 20 lb force is in the z
direction, calculate and illustrate
the moment about O.
O
Swivel head ratchet: If the
ratchet head rotates such that the
5 extension and socket are in the
xz plane, calculate and illustrate
the moment about line OA.
3
4
10
10
EXAMPLE Standard and swivel head ratchets
EXAMPLE Angled driveshaft loss of torque
Discuss and illustrate the loss of torque that occurs when a truck
uses an angled driveshaft to connect a transmission and differential
that are not in line.
MOMENT OF A COUPLE

Students will be able to
a) define a couple, and,
b) determine the moment of a couple.
Couples
A torque or moment of 12 N m is required to rotate the wheel.
Why does one of the two grips of the wheel above require less force to
rotate the wheel?
A couple is defined as two parallel forces with the same
magnitude but opposite in direction separated by a
perpendicular distance d. Couples are commonly
applied as in the illustration below.
Couples - Applications
Would older vehicles without power steering have larger or smaller
steering wheels?
When you grip a vehicles steering wheel with both hands, a couple
moment is applied to the wheel.
MOMENT OF A COUPLE
The moment of a couple is defined as
M
O
= F d (using a scalar analysis) or as
M
O
= r F (using a vector analysis).
Here r is any position vector from the line of action of F
to the line of action of F.
A couple is defined as two
parallel forces with the same
magnitude but opposite in
direction separated by a
perpendicular distance d.
MOMENT OF A COUPLE (continued)
Moments due to couples can be added
together using the same rules as adding
any vectors.
The net external effect of a couple is that
the net force equals zero and the
magnitude of the net moment equals F*d.
Since the moment of a couple depends
only on the distance between the
forces, the moment of a couple is a
free vector. It can be moved
anywhere on the body and have the
same external effect on the body.
EXAMPLE - Couples
a) Calculate the moments about points A, B, C, and D generated by the
two forces shown below by calculating the moment due to each force
separately.
b) Then treat the two forces as a couple and calculate the moment.
c) Draw the object with the forces replaced by a couple shown as a free
vector.
3'
4'
10 lb
10 lb
A
B
C
D
Key Point: Moments due to
couples are free vectors and
are independent of any point.
EXAMPLE (Couples) Scalar Approach
Two couples act on the support
shown.
1) Resolve the forces into x and y
components
2) Sketch the components
3) Find the total moment produced
EXAMPLE VECTOR APPROACH
1) Use M =r F to find the couple moment.
2) Set r = r
AB
and F = {35 k} N .

3) Calculate the cross product to find M.
Given: A 35 N force couple
acting on the rod.
Find: The couple moment
acting on the rod in
Cartesian vector notation.
Plan:
= {( 8.75 0) i (0 0) j (0 0) k} N m
= { 8.75 i + 0 j + 0 k} N m
M = r
AB
F
=
N m
i j
k
0 0.25 0.1443
0 0 35
EXAMPLE Continued
r
AB
= { 0 i (0.25) j + (0.25 tan 30) k} m
r
AB
= { 0.25 j + 0.1443 k} m

F = {0 i + 0 j + 35 k} N
Example Couples
Two couples act on the beam. The
resultant couple is zero.
Find the magnitudes of the forces P and F
and the distance d.
Example - Couples
A couple consisting of two 15N is applied
to the pipe assembly shown. Determine
the moment produced by the couple.
Hint: Use a cross product.
FORCE AND COUPLE SYSTEMS
What are the resultant effects on the persons hand
when the force is applied in these four different ways?
Why is understanding these difference important when
designing various load-bearing structures?
Force Couple systems Applications
Several forces and a
couple moment are acting
on this vertical section of
an I-beam.
For the process of designing the I-
beam, it would be very helpful if
you could replace the various forces
and moment just one force and one
couple moment at point O with the
same external effect? How will
you do that?
SIMPLIFICATION OF FORCE AND COUPLE SYSTEM - (Section 4.7)
When a number of forces and couple
moments are acting on a body, it is
easier to understand their overall effect
on the body if they are combined into a
single force and couple moment having
the same external effect.
The two force and couple systems are
called equivalent systems since they
have the same external effect on the
body.
MOVING A FORCE ON ITS LINE OF ACTION
Moving a force from A to B, when both points are on the
vectors line of action, does not change the external effect.
Hence, a force vector is called a sliding vector. (But the
internal effect of the force on the body does depend on where
the force is applied. Covered in a later course.)
MOVING A FORCE OFF OF ITS LINE OF ACTION
When a force is moved, but not along its line of action, there is
a change in its external effect!
Essentially, moving a force from point A to B (as shown above)
requires creating an additional couple moment. So moving a
force means you have to add a new couple.
Since this new couple moment is a free vector, it can be
applied at any point on the body.
B
SIMPLIFICATION OF A FORCE AND COUPLE SYSTEM
When several forces and couple moments
act on a body, you can move each force
and its associated couple moment to a
common point O.
Now you can add all the forces and
couple moments together and find one
resultant force-couple moment pair.
If the force system lies in the x-y plane (a 2-D case), then the
reduced equivalent system can be obtained using the following
three scalar equations.
SIMPLIFICATION OF A FORCE AND COUPLE SYSTEM - (continued)
W
R
=W
1
+W
2
(M
R
)
o
=W
1
d
1
+W
2
d
2
FURTHER SIMPLIFICATION OF A FORCE AND COUPLE SYSTEM
(Section 4.8)
=
=
In three special cases, concurrent, coplanar, and parallel
systems of forces, the system can always be reduced to a single
force.
If F
R
and M
RO
are perpendicular to each other, then the system
can be further reduced to a single force, F
R
, by simply moving
F
R
from O to P.
Equivalent Force-Couple Systems - Summary
Equivalent Systems
In Chapter 2 we considered objects with forces acting at a single point and we
sometimes replaced the forces by an equivalent resultant force. When forces act at
various points in an object, moments are produced. It is not enough to replace the
forces by a resultant: we must also insure that the same total moment is produced.
In order to two systems to be equivalent, they must have the same:
1. Resultant force:
2. Total moment about some given point A:

A system of forces may be represented by: (see diagram below)
1. The original system of forces
2. A resultant force and a total moment about some given point A
3. The resultant force strategically placed such that it produces the required moment
about point A
A
Resultant force + moment
A
M
A
E
R
Original system of forces
Find R = F and M
A
E
E
Resultant force only
A
M
A
E
R
R strategically placed a distance x
from point A in order to yield the
same
x
EXAMPLE Force-Couple Systems Find:
1) The equivalent resultant force
and couple moment acting at A
2) The equivalent single force
location measured from A.
EXAMPLE Force-Couple Systems
The slab shown is subjected
to three parallel forces.
Find:
1) The equivalent resultant
force and couple moment at
the origin O.
2) The location (x, y) of the
single equivalent resultant
force.
A 2D force and couple system
are shown. Find the equivalent
resultant force and couple
moment acting at A.
EXAMPLE Force-Couple Systems
EXAMPLE Force-Couple Systems Forces F
1
and F
2
are applied
to the pipe as shown.
Find an equivalent resultant
force and couple moment at
point O.