Namas Chandra

Introduction to Mechanical engineering

Hibbeler
Chapter 3-1
EML 3004C
Chapter 3: Force System Resultants
Namas Chandra
Introduction to Mechanical engineering
Hibbeler
Chapter 3-2
EML 3004C
Cross Product
The Cross product of two
vectors
and A B
C A B =
Magnitude:
C=AB sinu
Direction:
C is perpendicular to
both A and B
Namas Chandra
Introduction to Mechanical engineering
Hibbeler
Chapter 3-3
EML 3004C
Laws of Operation for Cross Product
Commutative law is not valid

In fact
A B B A
A B B A
=
=
( ) ( ) ( ) ( )
A B A B A B A B o o o o = = =
Scalar Multiplication
Distributive Law
( )
A B D A B A D + = +
Namas Chandra
Introduction to Mechanical engineering
Hibbeler
Chapter 3-4
EML 3004C
Cartesian Vector Formulation (sec 3.1)
Using general definition,

Magnitude: ( )( )(sin )

Direction: R.H. Rule

i j
i j
k
i j k
u

=
0
0
0
i j k i k j i i
j k i j i k j j
k i j k j i k k
= = =
= = =
= = =
Namas Chandra
Introduction to Mechanical engineering
Hibbeler
Chapter 3-5
EML 3004C
Cross Product of Two Vectors (sec 3.1)
x y z
x y z
A A i A j A k
B B i B j B k
= + +
= + +










( - )
- ( - )
( - )
x y z
x y z
y z z y
x z z x
x y y x
i j k
A B A A A
B B B
i A B A B
j A B A B
k A B A B
=
=
+
Let
Namas Chandra
Introduction to Mechanical engineering
Hibbeler
Chapter 3-6
EML 3004C
Moment Systems (sec 3.2)
The moment of a force about an axis
(sometimes represented as a point in a
body) is the measure of the forces tendency
to rotate the body about the axis (or point).

The magnitude of the moment is:
Direction R.H. Rule
o
M Fd =

Namas Chandra
Introduction to Mechanical engineering
Hibbeler
Chapter 3-7
EML 3004C
Moment Systems of System of Forces (sec 3.2)
0
1, 2 3
1, 2 3
Consider a system of Forces and
They are at and from point 0.
CCW
R
F F F
d d d
M Fd + =

It is customary to assume CCW

as the positive direction.
Resultant Moment of four Forces:
50 (2 ) 60 (0) 20 (3sin30 )
40 (4 3cos30 )
334 =334 Nm(CW)
o
R
M N m N N m
N m m
Nm
= + +
+
=
Namas Chandra
Introduction to Mechanical engineering
Hibbeler
Chapter 3-8
EML 3004C
Moment of a Force-Vector Formulation (sec 3.3)
0
The moment of a Force about a point O,
is the position vector of between O
and any point on the line of action of
F
M r F
r F
F
=
sin for any d,
: Note
r d u u =
Namas Chandra
Introduction to Mechanical engineering
Hibbeler
Chapter 3-9
EML 3004C
Moment of a Force-Vector Formulation (sec 3.3)
Let
and
Then,
x y z
x y z
o x y z
x y z
F F i F j F k
r r i r j r k
i j k
M r F r r r
F F F
= + +
= + +
= =
The axis of the moment is
perpendicular to the plane that
contains both F and r
The axis passes through point O
Namas Chandra
Introduction to Mechanical engineering
Hibbeler
Chapter 3-10
EML 3004C
Moment of Force Systems-Vector Formulation (sec 3.3)
Let a system of forces act upon a
body. We like to compute the net
moment of all the forces about the
point O.
Net moment is the sum of moment
of each force with separate
o
R
F r
M r F =

The moment will have three

components in , and
o
o
R
R x y z
M
x y z
M M i M j M k = + +
Namas Chandra
Introduction to Mechanical engineering
Hibbeler
Chapter 3-11
EML 3004C
CCW ;
4 3
375 (11) (500) (5) (500) (0)
5 5
160 cos 30 (0) 160 sin 30 (0.5)
6165 lb ft 6.16 kip ft C CW
B
B
RB
RB
R
M M
M
M
+ =
= +

+
+ +
= =

Problem 3-10 (page 84, Section 3.1-3.3)

3.10 Determine the resultant moment about point B on the
three forces acting on the beam.
Solution:
Namas Chandra
Introduction to Mechanical engineering
Hibbeler
Chapter 3-12
EML 3004C
Problem 3-20 (page 86, Section 3.1-3.3)
3.20 The cable exerts a 140-N force on the telephone pole as
shown. Determine the moment of this force at the base A of
the pole. Solve the problem two ways, i.e., by using a position
vector from A to C, then A to B.
Solution:
{ } { }
{ }
2 2 2
Position Vector:
r 6k m r 2i -3j m
Force Vector:
(2-0) i (-3-0) j (0-6) k
F 140
(2 0) ( 3 0) (0-6)
40i - 60 j -12 0k N
AB AC
= =
| |
+ +
=
|
|
+ +
\ .
=
Namas Chandra
Introduction to Mechanical engineering
Hibbeler
Chapter 3-13
EML 3004C
3.20 The cable exerts a 140-N force on the telephone pole as
shown. Determine the moment of this force at the base A of
the pole. Solve the problem two ways, i.e., by using a position
vector from A to C, then A to B.
Solution-Cont
{ }
360i 240j N m +
Moment about point :
M r F
A
A
=
| | | | | |
Use r r
i j k
0 0 6
40 -60 -120
0 (-120) - (-60)(6) i - 0(-120)-40(6) j 0(-60)-40(0) k

AB
=
=
= +
=
Namas Chandra
Introduction to Mechanical engineering
Hibbeler
Chapter 3-14
EML 3004C
3.20 The cable exerts a 140-N force on the telephone pole as
shown. Determine the moment of this force at the base A of
the pole. Solve the problem two ways, i.e., by using a position
vector from A to C, then A to B.
Solution-Cont
| | | | | |
{ }
Use r r
i j k
M 2 -3 0
40 -60 -120
( 3) (-120) - (-60)(0) i - 2(-120)-40(0) j 2(-60)-40(-3) k
360i 240j N m
AC
A
+
=
=
= +
=
Namas Chandra
Introduction to Mechanical engineering
Hibbeler
Chapter 3-15
EML 3004C
Section 3.1-3.3 (In-class Exercise)
If the man B exerts a force P=30 lbs on his rope,
determine the magnitude of F the man at C must exert
to prevent pole from tipping.
Solution:
Net moment should be zero
4
5
Assume CCW +ve.
30(cos 45)(18) ( )(12
39
)
.8lb
F
F
=
=
Namas Chandra
Introduction to Mechanical engineering
Hibbeler
Chapter 3-16
EML 3004C
Section 3.1-3.3 (In-class Challenge Exercise)
The foot segment is subjected to the pull of the two
plantar flexor muscle. Determine the moment of
each force about the point of contact A on the ground.
Solution:

( )
1
20cos30(4.5) 20sin30(4)
118 (cw)
A
M
lb
=
=
( )
2
30cos30(4.0) 30sin70(3.5)
140 (cw)
A
M
lb
=
=
( ) ( ) ( )
1 1
258 (cw)
A A A
M M M
lb
= +
=
Namas Chandra
Introduction to Mechanical engineering
Hibbeler
Chapter 3-17
EML 3004C
3.4 Principle of Moments (sec 3.4)
The moment of a force is equal to the sum of the moment of the
forces component about a point. (Varginons theorem 1654-1722)
( )
0 1 2 1 2
M r F r F F r F r F = = + = +
A
Cable exerts F on pole with moment M .
F can be slided by the
Note
A x y
principle of transmissibility
M F h F b F d = = =
Namas Chandra
Introduction to Mechanical engineering
Hibbeler
Chapter 3-18
EML 3004C
3.5 Moment of a Force about a specified axis
0
When the moment of a force F is computed using M =r F,
the axis is perpendicular to r and F.

If we need the moment about other axis still through O, we
can use either scalar or vector analysis.
Here we have F=20 N applied.
Though the typical equation gives
moment with respect to b-axis, we
require it through y-axis.
Namas Chandra
Introduction to Mechanical engineering
Hibbeler
Chapter 3-19
EML 3004C
3.5 Moment of a Force about a specified axis-2
{ }
Step 1. Find M about using cross produc
(0.3 0.4 ) ( 20 )
8 6 Nm
t.
o A
M r F i j k
i j
= = +
= +
Step 2. Find M about the given axis
( 0.8 6 )
6Nm
=j.
y o A
A
u
M M u i j j = = +
=
Namas Chandra
Introduction to Mechanical engineering
Hibbeler
Chapter 3-20
EML 3004C
3.5 Moment of a Force about a specified axis-3
The two steps in the previous analysis can be combined with the
definition of a scalar triple product. Since dot product is commutative
( )
( )
If and then

x y z
x y z
o a a o
a a
a a a x y z
x y z
a a a
x y z
x y z
M r F M u M
M u r F
i j k
u i u j u k r r r
F F F
u u u
r r r
F F F
= =
=
= + +
=
Namas Chandra
Introduction to Mechanical engineering
Hibbeler
Chapter 3-21
EML 3004C
3.6 Moment of a Couple-1
A couple is defined as two parallel forces with same magnitude and
opposite direction. Net force is zero, but rotates in specified direction.
( )
( )
is the moment of the couple.
Sum of the moment is same about any point.
Moment about O,
Since does not depend on O, the moment
is same at any point.
A B
B A
Couplemoments
M r F r F
r r F r F
r
= +
= =
Namas Chandra
Introduction to Mechanical engineering
Hibbeler
Chapter 3-22
EML 3004C
3.6 Equivalent Couples -2
Two couples are equivalent if they produce the same
moment. The forces should be in the same or parallel
planes for two couple to be equivalent.
Couple moments are free vectors. They can be added
at any point P in the body.
( )
1 2
1 2
There are two couples, with moments and
+
F
R
R
M M
M M M
M r
=
=

Namas Chandra
Introduction to Mechanical engineering
Hibbeler
Chapter 3-23
EML 3004C
Problem 3-39 (page 95, Section 3.4-3.6)
3.39The bracket is acted upon by a 600-N force at A.
Determine the moment of this force about the y axis.
Solution:
{ }
{ }
Force Vector:
F 600 (cos 60 i cos 60 j cos45 k)
300i 300j 424.26 k N
Position Vector:
r -0.1 i 0.15 k m
= + +
= + +
= +
Namas Chandra
Introduction to Mechanical engineering
Hibbeler
Chapter 3-24
EML 3004C
3.39The bracket is acted upon by a 600-N force at A.
Determine the moment of this force about the y axis.
| |
Magnitude of the moment along axis:

j (r F)
0 1 0
-0.1 0 0.15
300 300 424.26
=0-1 (-0.1)(424.26)-(300)(0.15) 0
8
y
y
M =
=
+
=
{ }
7.4 N m
In cartesian vector form
87
:
. 4j N M m
y

=
Solution-Cont
Namas Chandra
Introduction to Mechanical engineering
Hibbeler
Chapter 3-25
EML 3004C
Problem 3-54 (page 103, Section 3.4-3.6)
3.54 Two couples act on the frame. If d = 6 ft, determine the
resultant couple moment. Compute the result by resolving
each force into x and y components and (a) finding the
moment of each couple (Eq. 3-14) and (b) summing the
moments of all the force components about point A
1
2
1 2
(a)
100cos30 (6)
519.6 lb ft CW
4
(150)(4) 480 lb ft CCW
5
519.6-480
39.6 lb ft CW
R
M
M
M M M
=
=
= =
= =
=
Solution:
Namas Chandra
Introduction to Mechanical engineering
Hibbeler
Chapter 3-26
EML 3004C
3.54 Two couples act on the frame. If d = 6 ft, determine the
resultant couple moment. Compute the result by resolving
each force into x and y components and (a) finding the
moment of each couple (Eq. 3-14) and (b) summing the
moments of all the force components about point A
(b)
CCW ;
4
100cos30 (3) (150)(4) 100cos30 (9)
5
39.6 lb ft
39.6 lb CW ft
R B
R
R
M M
M
M
+ =
= +
=

Solution-Cont
Namas Chandra
Introduction to Mechanical engineering
Hibbeler
Chapter 3-27
EML 3004C
Section 3.4-3.6 (In-class Exercise)
Solution:
a. Find the normal distance for
each case first.
Two couples act on the frame. If d = 4ft, find the resultant
couple moment by (a) direct method, and (b) resolving the x
and y components (take moment about A).
( )
4
5
40cos30(4) 60 (4)
53.4lb.ft (CW)
c
M =
=
( ) ( ) ( ) ( )
3 3 4 4
5 5 5 5
40cos30(2) 40cos30(6)
60 (3) 60 (7) 60 (7) 60 (7)
53.4lb.ft (CW)
c
M = +
+ +
=
Namas Chandra
Introduction to Mechanical engineering
Hibbeler
Chapter 3-28
EML 3004C
Section 3.4-3.6 (In-class Challenge Exercise)
Solution:
The meshed gears are subjected to the couple moments shown.
Determine the magnitude of the resultant couple moment and
specify its coordinate direction angles.
{ }
{ }
{ }
{ }
1
2
1 2
50 N.m
20cos 20sin30 20cos 20cos30
20sin 20 N.m
= 9.397 16.276 6.840 N.m
9.397 16.276 6.840 50 N.m
= 9.397 16.276 56.840 N.m
R
M k
M i j
k
i j k
M M M
i j k k
i j k
=
=
+
+
= +
= + +
+
Namas Chandra
Introduction to Mechanical engineering
Hibbeler
Chapter 3-29
EML 3004C
Section 3.4-3.6 (In-class Challenge Exercise-2)
Solutioncontd.
( ) ( ) ( )
( )
( )
( )
2 2
1
9.379
59.867
1
16.276
59.867
1
56.840
59.867
9.379 16.276 + 56.840 N.m
59.867 N.m=59.9 N.m
cos 99.0
cos 106.0
cos 18.3
R
M
o
|
v

= +
=
= =
= =
= =
Namas Chandra
Introduction to Mechanical engineering
Hibbeler
Chapter 3-30
EML 3004C
3.7 Movement of a Force on a Rigid Body-1
A single force on a body can cause it to rotate (moment) and translate
(force).
In the first example, the ruler
causes a force F and in addition
a moment M=Fd.
In the example, the ruler
causes a force F and NO
ADDITIONAL
moment.
Namas Chandra
Introduction to Mechanical engineering
Hibbeler
Chapter 3-31
EML 3004C
3.7 Movement of a Force on a Rigid Body-2
Extend this idea to a general 3-D case. Now, the force can be moved
Force now causes the force at any point 0 and then a couple.
Namas Chandra
Introduction to Mechanical engineering
Hibbeler
Chapter 3-32
EML 3004C
3.8 Resultant of a Force and Couple System-1
= =
0
By applying the same concepts we have
x
y
z
o
R
R x
R y
R
z
R
F F
F F
F F
F F
M M
=
=
=
=
=

Namas Chandra
Introduction to Mechanical engineering
Hibbeler
Chapter 3-33
EML 3004C
3.9 Further Reduction on Force/Couples-1
If resultant force and moment is known then it is possible to
reduce them to a single force at P. d=
o
o
R R
R
R
F M
M
F
Namas Chandra
Introduction to Mechanical engineering
Hibbeler
Chapter 3-34
EML 3004C
3.9 Further Reduction on Force/Couples-2
Concurrent Force Systems
Only equivalent force
Coplanar Force Systems
A single force at d from point 0
Namas Chandra
Introduction to Mechanical engineering
Hibbeler
Chapter 3-35
EML 3004C
3.9 Further Reduction on Force/Couples-2
Parallel Force Systems
( )
Here we have parallel forces and moments that are perpendicular.
Resultant moment (see b):
A single force =
o
R C
R
M M r F
F F
= +

Namas Chandra
Introduction to Mechanical engineering
Hibbeler
Chapter 3-36
EML 3004C
Problem 3-103 (page 124, Section 3.7-3.9)
3.103 The weights of the various components of the truck
shown. Replace this system of forces by an equivalent
resultant force and couple moment acting at point A.
Force Summation:
;
3500 5500 1750
=10750lb 110.75lb

R y
R
F F
F
+ + =
= + +
=

Moment Summation:
CCW ;
3500(20) 5500(6) 1750(2)
=99500lb ft 99.5 kip ft
RA A
RA
M M
M
+ =
= +
=

Solution:
Namas Chandra
Introduction to Mechanical engineering
Hibbeler
Chapter 3-37
EML 3004C
Problem 3-93 (page 122, Section 3.7-3.9)
3.93 The building slab is subjected to four parallel column
loadings. Determine the equivalent resultant force and specify
its location (x,y) on the slab.
( )
( )
;
30 50 40 20 140kN
M ;
-140 50(3) 30(11) 40(13)

M M ;
140 50(4) 20(
140kN
7.
10) 40(10)

14m
5.
R x
R
R x
x
R y
y
y
x
F F
F
M
y
x
=
= = =
=
=
=
+
=
= + +
=

71m
Solution:
Namas Chandra
Introduction to Mechanical engineering
Hibbeler
Chapter 3-38
EML 3004C
3.69 The gear is subjected to the two forces shown. Replace
these forces by an equivalent resultant force and couple
moment acting at point O.
Problem 3-69 (page 119, Section 3.7-3.9)
Force Summation:
;
40
(2.25) 3sin60 -0.40295 kN
41
;
9
(2.25) 3sin60 -1.0061 kN
41
Rx x
Rx
Ry y
Ry
F F
F
F F
F
+ =
= =
+ | =
= =

Solution:
Namas Chandra
Introduction to Mechanical engineering
Hibbeler
Chapter 3-39
EML 3004C
3.69 The gear is subjected to the two forces shown. Replace
these forces by an equivalent resultant force and couple
moment acting at point O.
Solution-Cont
2 2
2 2
-1 -1
1.08 kN
68.2

( 0.40295) ( 1.0061)
1.0061
tan tan
0.40295
Moment Summation:
CCW ;



Rx Ry
R
Ry
Rx
Ro o
F F F
F
F
M M
u
= +
= + =
= = =
+

0
0
3sin 60 (0.175cos 20 )
40
3cos 60 (0.175sin 20 )+ (2.25)(0.17
0.901 kN
5)
41
m CCW
Ro
M

= +
+
=
Namas Chandra
Introduction to Mechanical engineering
Hibbeler
Chapter 3-40
EML 3004C
Section 3.7-3.9 (In-class Exercise)
Replace the force system by an equivalent force and couple
moment at the point A.
Solution:

( ) ( )
( )
{ }
1 2 3
300 100 400 100
100 50 500
400 300 650 N
R R
F F F F F F
i j
k
i j k
= = + +
= + +
+
= +

Namas Chandra
Introduction to Mechanical engineering
Hibbeler
Chapter 3-41
EML 3004C
Section 3.7-3.9 (In-class Exercise..2)
Solution (contd).

{ }
1 2 3
0 0 12 0 0 12
300
31
400 100 100 100 5
00 4800 N.m
0
0 1 12
0 0 500
R A
AB AB AB
M M
r F r F r F
i j k i j k
j
i j
i
k
=
= + +
= + +

Namas Chandra
Introduction to Mechanical engineering
Hibbeler
Chapter 3-42
EML 3004C
Section 3.7-3.9 (In-class Challenge Exercise)
The weights of the various components of the truck are shown.
Replace this system by an equivalent resultant force and specify
its location from point A.
Solution: Equivalent force
1750 5500 3500
107 10.75Kip 50 s
R y
y
F F
F
lb
| + =
=
= = +

Location of force
10750( ) 3500(20) 5500(6) 1750(
9
2
2 f
)
. 6 t
A
R A
CCW M M
d
d
+ =
= +
=

Namas Chandra
Introduction to Mechanical engineering
Hibbeler
Chapter 3-43
EML 3004C
Chapter 3: Force System
Resultantsconcludes