Momentos Parte 2

Tenth
Edition
CHAPTER VECTOR MECHANICS FOR ENGINEERS:
3
STATICS
Ferdinand P. Beer
E. Russell Johnston, Jr.
David F. Mazurek Rigid Bodies:
Lecture Notes:
John Chen
Equivalent Systems
California Polytechnic State University
of Forces
© 2013 The McGraw-Hill Companies, Inc. All rights reserved.

Vector Mechanics for Engineers: Statics
Edition
Tenth
Contents
Introduction Moment of a Force About a Given Axis
External and Internal Forces Sample Problem 3.5
Principle of Transmissibility: Equivalent Moment of a Couple
Forces
Addition of Couples
Vector Products of Two Vectors
Couples Can Be Represented By Vectors
Moment of a Force About a Point
Resolution of a Force Into a Force at O
Varigon’s Theorem and a Couple
Rectangular Components of the Mome Sample Problem 3.6
nt of a Force
System of Forces: Reduction to a Force
Sample Problem 3.1 and a Couple
Scalar Product of Two Vectors Further Reduction of a System of Forces
Scalar Product of Two Vectors: Sample Problem 3.8
Applications
Sample Problem 3.10
Mixed Triple Product of Three Vectors
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 3-2

Edition
Tenth
Objectives
By the end of this lesson you should be able to:
1)Discuss the principle of transmissibility.
2)Define the moment of a force about a point.
3)Examine vector and scalar products.
4)Define the mixed triple product.
5)Define the moment of a couple.
6)Resolve a given force into an equivalent force-couple system at
another point.
7)Reduce a system of forces into an equivalent force-couple
system.
8)Examine circumstances where a system of forces cab be
reduced to a single force.
9)Reduce a system of forces to a wrench.

Edition
Tenth
Introduction
• Treatment of a body as a single particle is not always possible. In

general, the size of the body and the specific points of application of the
forces must be considered.
• Current chapter describes the effect of forces exerted on a rigid body and
how to replace a given system of forces with a simpler equivalent system.
• First, we need to learn some new statics concepts, including:

• moment of a force about a point
• moment of a force about an axis
• moment due to a couple
• Any system of forces acting on a rigid body can be replaced by an

equivalent system consisting of one force acting at a given point and one
couple.

Edition
Tenth
External and Internal Forces

• Forces acting on rigid bodies are
divided into two groups:
- External forces
- Internal forces
• External forces are shown in a free

body diagram.
• Internal forces, such as the force

between each wheel and the axel
it is mount on, are never shown
on a free body diagram.

Edition
Tenth
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.
NOTE: F and F’ are equivalent forces.
• Moving the point of application of

the force F to the rear bumper
does not affect the motion or the
other forces acting on the truck.

Edition
Tenth
Vector Product of Two Vectors

• Concept of the moment of a force about a point
requires the understanding of the vector product
or cross product.
• Vector product of two vectors P and Q is defined

as the vector V which satisfies the following
conditions:
1. Line of action of V is perpendicular to plane
containing P and Q.
2. Magnitude of V is V  PQ sin 
3. Direction of V is obtained from the right-hand
rule.
• Vector products:
- are not commutative, Q  P   P  Q 
- are distributive, P   Q1  Q2   P  Q1  P  Q2
- are not associative,  P  Q   S  P   Q  S 
Edition
Tenth
Vector Products: Rectangular Components

• Vector products of Cartesian unit vectors,
       
i i  0 j  i  k k  i  j
       
i j k j j 0 k  j  i
       
i k   j j k  i k k  0
• Vector products in terms of rectangular

coordinates
r r r r r r r
 
V  Px i  Py j  Pz k  Qx i  Qy j  Qz k
 
r r
 Py Qz  PzQy i  PzQx  Px Qz  j
r
 Px Qy  Py Qx k
 r r r
i j k
 Px Py Pz
 Q Qy Qz
 x
Edition
Tenth
Vector and scalar products
http://www.youtube.com/watch?v=xJBGfPfE4fQ

Edition
Tenth

• A force vector is defined by its magnitude and
direction. Its effect on the rigid body also depends
on its point of application.
• The moment of F about O is defined as
MO  r  F
• The moment vector MO is perpendicular to the
plane containing O and the force F.
• Magnitude of MO, M O  rF sin   Fd ,
measures the tendency of the force to cause rotation of
the body about an axis along MO. The sense of the
moment may be determined by the right-hand rule.
• Any force F’ that has the same magnitude and
direction as F, is equivalent if it also has the same line
of action and therefore, produces the same moment.
© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 3 - 10

Edition
Tenth

• Two-dimensional structures have length and breadth but
negligible depth and are subjected to forces contained
only in the plane of the structure.
• The plane of the structure contains the point O and the

force F. MO, the moment of the force about O is
perpendicular to the plane.
• If the force tends to rotate the structure clockwise, the

sense of the moment vector is out of the plane of the
structure and the magnitude of the moment is positive.
• If the force tends to rotate the structure counterclockwise,

the sense of the moment vector is into the plane of the
structure and the magnitude of the moment is negative.

Edition
Tenth
Varignon’s Theorem
• The moment about a give point O of the

resultant of several concurrent forces is equal
to the sum of the moments of the various
moments about the same point O.
r   F1  F2    r  F1  r  F2  
      
• Varignon’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.

Edition
Tenth
Rectangular Components of the Moment of a Force
The moment of F about O,

r r r r r r r
MO  r  F , r  xi  yj  zk
r r r r
F  Fx i  Fy j  Fz k

r r r r
MO  M xi  M y j  M z k
r r r
i j k
 x y z
Fx Fy Fz
r r r
 yFz  zFy i  zFx  xFz  j  xFy  yFx k

r
The components of  M o , Mx, My, and Mz, represent the
moments about the x-, y- and z-axis, respectively.

Edition
Tenth
The moment of F about B,

r r r
M B  rA / B  F

r r r
rA / B  rA  rB
r r r
 x A  x B i  y A  y B  j  z A  z B k
r r r r
 F  Fx i  Fy j  Fz k
r r r
i j k
r
M B  x A  x B  yA  y B  z A  z B 
Fx Fy Fz


Edition
Tenth

For two-dimensional structures,
r r
M O  xFy  yFz k
MO  M Z
  xFy  yFz
r r
M B  x A  x B Fy  y A  y B Fz k
MB  MZ
 x A  x B Fy  y A  y B Fz


Edition
Tenth
Sample Problem 3.1

A 100-lb vertical force is applied to the end of a
lever which is attached to a shaft (not shown) at
O.
Determine:
a) the moment about O,
b) the horizontal force at A which creates the same
moment,
c) the smallest force at A which produces the same
moment,
d) the location for a 240-lb vertical force to produce
the same moment,
e) whether any of the forces from b, c, and d is
equivalent to the original force.

Edition
Tenth
Sample Problem 3.1

a) Moment about O is equal to the product of the
force and the perpendicular distance between the
line of action of the force and O. Since the force
tends to rotate the lever clockwise, the moment
vector is into the plane of the paper which, by our
sign convention, would be negative or
counterclockwise.
M O  Fd
d  24 in.cos 60 12 in.
M O  100 lb12 in. MO  1200 lb  in, or
 1200 lb  in



Edition
Tenth
Sample Problem 3.1

b) Horizontal force at A that produces the same
moment,
d  24 in.sin 60  20.8 in.
M O  Fd
1200 lb  in.  F 20.8 in.
1200 lb  in. F  57.7 lb
F
20.8 in.
 Why must the direction of this F be to the right?

Edition
Tenth
Sample Problem 3.1

F(min) ?
What is the smallest force at A which produces
the same moment? Think about it and discuss
with a neighbor.
c) The smallest force at A to produce the same
moment occurs when the perpendicular distance is
a maximum or when F is perpendicular to OA.
M O  Fd
1200 lb  in.  F  24 in.
1200 lb  in.
F F  50 lb
24 in.

Edition
Tenth
Sample Problem 3.1

d) To determine the point of application of a 240 lb
force to produce the same moment,
MO  Fd
1200 lb  in.  240 lbd
1200 lb  in.
d  5 in.
240 lb
OBcos60  5 in. OB  10 in.


Edition
Tenth
Sample Problem 3.1
e) Although each of the forces in parts b), c), and d)

produces the same moment as the 100 lb force, none
are of the same magnitude and sense, or on the same
line of action. None of the forces is equivalent to the
100 lb force.

Edition
Tenth
Sample Problem 3.4
Solution
How do you find the moment? What is
the equation for this moment? Discuss
this with a neighbor and describe in
detail each variable in your equation,
including (a) how you would write it,
(b) what its units are, and (c) whether
or not there are any alternative
variables that could take its place.
The rectangular plate is supported by
The moment MA of the force F exerted
the brackets at A and B and by a wire
CD. Knowing that the tension in the by the wire is obtained by evaluating
wire is 200 N, determine the moment the vector product,
about A of the force exerted by the   
wire at C. M A  rC A  F

Edition
Tenth
Sample Problem 3.4

SOLUTION:
  
M A  rC A  F
r r r r r
rC A  rC  rA  0.3 mi  0.08 m j

r
r r rC
F  F 200 N  D
rC D
 r r r
0.3 mi  0.24 m j  0.32 mk
 200 N 
0.5 m
r r r
 120 N i  96 N j  128 N k

  
i j k

 M A  0.3 0 0.08
 120 96  128
v r r r
M  7.68 N  mi  28.8 N  m j  28.8 N  mk
 A
Edition
Tenth
Scalar Product of Two Vectors

• The scalar product or dot product between
two vectors P and Q is defined as
 
P  Q  PQ cos  scalar result 
• Scalar products:
   
- are commutative, PQ  Q P
P   Q1  Q2   P  Q1  P  Q2
      
- are distributive,
- are not associative,  P  Q   S  undefined
  
• Scalar products with Cartesian unit components,

r r r r r r r r
 
P  Q  Px i  Py j  Pz k  Qx i  Qy j  Qz k


           
i i 1 j  j 1 k k 1 i  j  0 j k  0 k i  0
 
P  Q  Px Qx  Py Q y  Pz Qz
 
P  P  Px2  Py2  Pz2  P 2
Edition
Tenth
Scalar Product of Two Vectors: Applications

• Angle between two vectors:
 
P  Q  PQ cos  Px Qx  Py Q y  Pz Qz
Px Qx  Py Q y  Pz Qz
cos 
PQ
• Projection of a vector on a given axis:

POL  P cos  projection of P along OL
 
P  Q  PQ cos
 
PQ
 P cos  POL
Q
• For an axis defined by a unit vector:

 
POL  P  
 Px cos x  Py cos y  Pz cos z

Edition
Tenth
Mixed Triple Product of Three Vectors

• Mixed triple product of three vectors,
S   P  Q   scalar result
  
• The six mixed triple products formed from S, P, and

Q have equal magnitudes but not the same sign,
r r r r r r r r r
     
S  P  Q  P Q  S  Q S  P
r r r r r r r r

    
  S  Q  P  P  S  Q  Q  P  S 
• Evaluating the mixed triple product,
r r r

 
S  P  Q  Sx Py Qz  PzQy  Sy PzQx  Px Qz 
 Sz Px Qy  Py Qx 
Sx Sy Sz
 Px Py Pz
Qx Qy Qz

Edition
Tenth
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
• Scalar moment MOL about an axis OL is the

projection of the moment vector MO onto the
axis,
M OL    M O     r  F 
    
• Moments of F about the coordinate axes,

M x  yFz  zFy
M y  zFx  xFz
M z  xFy  yFx

Edition
Tenth
Moment of a Force About a Given Axis

• Moment of a force about an arbitrary axis,
r r
M BL   M B
r r r
  rA B  F  
r r r
rA B  rA  rB

• The result is independent of the point B
along the given axis. That ris, the same
 rA C , for
result can be gotten using 
example.


Edition
Tenth
Sample Problem 3.5
A cube is acted on by a force P as

shown. Determine the moment of P
a) about A
b) about the edge AB and
c) about the diagonal AG of the cube.
d) Determine the perpendicular distance
between AG and FC.

Edition
Tenth
Sample Problem 3.5

• Moment of P about A,
r r r
M A  rF A  P
r r r r r
 
rF A  a i  a j  a i  j
r r r r r
 
PP 2 i  2 j P 2 i  j  
r r r r r
    
MA  a i  j  P 2 i  j
r r r r
 
M A  aP 2 i  j  k


r
 • List an alternative to the position vector rF A ,

and discuss your answer with a neighbor.

• Moment of P about AB,
r r
M AB  i  M A 
r r r r

 
 i  aP 2 i  j  k 
M AB  aP 2
Edition
Tenth
Sample Problem 3.5

• Moment of P about the diagonal AG,
r r
M AG   M A
r r r r
r rG A ai  aj  ak 1 r r r

rG A

a 3

3
 i  jk 
r aP r r r
MA 
2
 
i  j k
1 r r r aP r r r
M AG 
3
 
i  j k 
2
i  j k 
aP
 111
 6
aP
M AG  
6
 r r
, you had chosen 
• What if, for  rA G instead?
How would that change the answer?
Edition
Tenth
Sample Problem 3.5

• Perpendicular distance between AG and FC,
r r P r r 1 r r r
P  
2
 
j k 
3
 
i  j k 
P
6
0 11
r r

 
 0 since by definition P   = P 1 cos
Therefore, P is perpendicular to AG.

 aP
M AG   Pd
6
a
d
6

Edition
Tenth
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   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.

Edition
Tenth
Moment of a Couple
Two couples will have equal moments if

• F1d1  F2 d 2
• the two couples lie in parallel planes, and
• the two couples have the same sense or

the tendency to cause rotation in the same
direction.

Edition
Tenth
Addition of Couples
• Consider two intersecting planes P1 and
P2 with
r each containing a couple
r r
M1  r  F1 in plane P1
r r r
M 2  r  F2 in plane P2

• Resultants of the vectors also form a

couple
 r r r r r r
M  r  R  r  F1  F2
  
• By Varignon’s theorem
r r r r r
M  r  F1  r  F2
 r r
  M1  M 2
• Sum of two couples is also a couple that is
equal to the vector sum of the two couples

Edition
Tenth
Couples Can Be Represented by Vectors
• A couple can be represented by a vector with magnitude

and direction equal to the moment of the couple.
• Couple vectors obey the law of addition of vectors.
• Couple vectors are free vectors, i.e., there is no point of

application – it simply acts on the body.
• Couple vectors may be resolved into component vectors.

Edition
Tenth
Resolution of a Force Into a Force at O and a Couple
• Force vector F can not be simply moved to O without modifying its

action on the body.
• Attaching equal and opposite force vectors at O produces no net

effect on the body.
• The three forces may be replaced by an equivalent force vector and

couple vector, i.e, a force-couple system.

Edition
Tenth
Resolution of a Force Into a Force at O and a Couple
• Moving F from A to a different point O’ requires the

addition of a different couple vector MO’
  
M O'  r   F
• The moments of F about O and O’ are related,
         
M O '  r ' F   r  s   F  r  F  s  F
  
 MO  s  F
• Moving the force-couple system from O to O’ requires the
addition of the moment of the force at O about O’.

Edition
Tenth
Sample Problem 3.6

SOLUTION:
• Attach equal and opposite 20 lb forces in
the ±x direction at A, thereby producing 3
couples for which the moment components
are easily computed.
• Alternatively, compute the sum of the

moments of the four forces about an
arbitrary single point. The point D is a
good choice as only two of the forces will
produce non-zero moment contributions..
Determine the components of the
single couple equivalent to the
couples shown.

Edition
Tenth
Sample Problem 3.6

• Attach equal and opposite 20 lb forces
in the ±x direction at A
• The three couples may be represented by

three couple vectors,
M x  30 lb18 in.  540 lb  in.
M y  20 lb12 in.  240lb  in.
M z  20 lb9 in.  180 lb  in.
r r r
M  540 lb  in.i  240lb  in. j
r
 180 lb  in.k
 


Edition
Tenth
Sample Problem 3.6

• Alternatively, compute the sum of the
moments of the four forces about D.
• Only the forces at C and E contribute to

the moment about D.
r r r r
M  M D  18 in. j  30 lbk
r r r
  
 9 in. j  12 in.k  20 lbi
r r r
M  540 lb  in.i  240lb  in. j
r
  180 lb  in.k



Edition
Tenth
System of Forces: Reduction to a Force and Couple
• A system of forces may be replaced by a collection of

force-couple systems acting at a given point O
• The force and couple vectors may be combined into a
resultant force vector and a resultant couple vector,
r r rR r r
RF

MO   r  F  
• The force-couple system at O may be moved to O’
with the addition of the moment of R about O’ ,
rR rR r r
 M O'  MO  s  R

• Two systems of forces are equivalent if they can be
reduced to the same force-couple system.
 © 2013 The McGraw-Hill Companies, Inc. All rights reserved. 3 - 42
Edition
Tenth
Further Reduction of a System of Forces

• If the resultant force and couple at O are mutually
perpendicular, they can be replaced by a single force acting
along a new line of action.
• The resultant force-couple system for a system of forces

will be mutually perpendicular if:
1) the forces are concurrent,
2) the forces are coplanar, or
3) the forces are parallel.

Edition
Tenth
Further Reduction of a System of Forces

• System of coplanar forces
 isreduced to a
force-couple system R and M OR that is
mutually perpendicular.
• System can be reduced to a single force

by moving the line of action of R until
its moment about O becomes M OR
• In terms of rectangular coordinates,

xR y  yRx  M OR

Edition
Tenth
Sample Problem 3.8
SOLUTION:
a) Compute the resultant force for the
forces shown and the resultant
couple for the moments of the
forces about A.
b) Find an equivalent force-couple

For the beam, reduce the system of system at B based on the force-
forces shown to (a) an equivalent couple system at A.
force-couple system at A, (b) an
equivalent force couple system at B, c) Determine the point of application
and (c) a single force or resultant. for the resultant force such that its
moment about A is equal to the
Note: Since the support reactions are
resultant couple at A.
not included, the given system will
not maintain the beam in equilibrium.

Edition
Tenth
Sample Problem 3.8

SOLUTION:
a) Compute the resultant force and the
resultant couple at A.
r r
RF
r r r r
 150 N j  600 N j  100 N  j  250 N j

r r
 
R   600 N  j
rR r r
 MA   r  F 
r r r r
   
 1.6 i 600 j  2.8 i  100 j 
r r
   
 4.8 i  250 j
rR r
M  1880 N  mk
 A


Edition
Tenth
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.
rR rR r r
M B  M A  rB A  R
r r r
 1880 N  mk  4.8 mi  600 N  j
r r
 1880 N  mk  2880 N  mk

rR r
M  1000 N  mk
 B


Momentos Parte 2

Загружено:

Сведения о документе

Оригинальное название

Авторское право

Доступные форматы

Поделиться этим документом

Поделиться или встроить документ

Параметры публикации

Этот документ был вам полезен?

Это неприемлемый материал?

Авторское право:

Доступные форматы

Momentos Parte 2

Загружено:

Авторское право:

Доступные форматы

Tenth

CHAPTER VECTOR MECHANICS FOR ENGINEERS:

© 2013 The McGraw-Hill Companies, Inc. All rights reserved.

© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 3-2

© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 2-3

• Treatment of a body as a single particle is not always possible. In

• First, we need to learn some new statics concepts, including:

• Any system of forces acting on a rigid body can be replaced by an

© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 3-4

External and Internal Forces

• External forces are shown in a free

• Internal forces, such as the force

© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 3-5

Principle of Transmissibility: Equivalent Forces

• Moving the point of application of

© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 3-6

Vector Product of Two Vectors

• Vector product of two vectors P and Q is defined

Vector Products: Rectangular Components

• Vector products in terms of rectangular

Vector and scalar products

© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 2-9

Moment of a Force About a Point

© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 3 - 10

Moment of a Force About a Point

• The plane of the structure contains the point O and the

• If the force tends to rotate the structure clockwise, the

• If the force tends to rotate the structure counterclockwise,

© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 3 - 11

• The moment about a give point O of the

• Varignon’s Theorem makes it possible to

© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 3 - 12

Rectangular Components of the Moment of a Force

The moment of F about O,

© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 3 - 13

Rectangular Components of the Moment of a Force

The moment of F about B,

© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 3 - 14

Rectangular Components of the Moment of a Force

© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 3 - 15

Sample Problem 3.1

© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 3 - 16

Sample Problem 3.1

© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 3 - 17

Sample Problem 3.1

 Why must the direction of this F be to the right?

© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 3 - 18

Sample Problem 3.1

© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 3 - 19

Sample Problem 3.1

© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 3 - 20

Sample Problem 3.1

e) Although each of the forces in parts b), c), and d)

© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 3 - 21

Sample Problem 3.4

© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 3 - 22

Sample Problem 3.4

Scalar Product of Two Vectors

• Scalar products with Cartesian unit components,

Scalar Product of Two Vectors: Applications

• Projection of a vector on a given axis:

• For an axis defined by a unit vector:

© 2013 The McGraw-Hill Companies, Inc. All rights reserved. 3 - 25