MEM202 Engineering Mechanics - Statics

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Chapter 4 Rigid Bodies Equivalent Force/Moment Systems

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Equilibrium of Rigid Bodies

r P r P r P r P
r r r F = P P = 0

r F = 0 r M 0

B
r M = 0

r Equilibrium for non-concurrent force systems F = 0

Force systems to be studied: 1. Coplanar, parallel force systems 2. Coplanar, non parallel, non-concurrent force systems 3. Non-coplanar, parallel force systems 4. Non-coplanar, nonparallel, non-concurrent force systems
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4.2 Moments and Their Characteristics r

A

Moment of F about A A

O r r

r F

r r

O
r F

r MO

r r r M O = Fd or M O = r F
The magnitude of a moment is the product of the magnitude of the force (F) and the perpendicular distance (d) from the line of action of the force to the axis of rotation (A-A). The units for moments are inlb (U.S.) and Nm (SI). A moment is a vector. Thus, parallelogram law of addition applies.
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4.2 Moments and Their Characteristics

Sign Convention for Moments Right-hand Rule :
When fingers of right hand curl from positive r to positive F, the thumb is pointing in the direction of positive moment. In 2-D, a counter-clockwise moments (4) is positive and a clockwise moments (3) is negative.
y y

+
x

x
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4.2 Moments and Their Characteristics

Examples

dC B

Moment of FA about point E r M E = FA d E A = 100(10 ) = 1000 in lb (ccw) Moment of FE about point A r M A = FE d A E = 200(12 ) = 2400 in lb (ccw) Moment of FD about point B r M B = FD d B D = 300(14 ) = 4200 in lb (cw)

r M B = FC d B C = 90(0.16 + 0.12 ) = 25.2 N m (ccw) r M A = FD d A D = 120(0.35 + 0.20) = 66.0 N m (ccw) r M C = FB d C B = 150 (0.16 + 0.12 ) cos 30o = 36.4 N m (cw)
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Moment of FC about point B

Moment of FD about point A

Moment of FB about point C

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4.2 Moments and Their Characteristics

Examples

Moment of FB about point C r M C = FB d C B = 400(15) = 600 in lb (cw) Moment of FC about point B r M B = FC d B C = 300(12 ) = 3600 in lb (ccw) Moment of FD about point B r M B = FD d B D = 250(3) = 750 in lb (ccw)

= tan 1

20 = 53.13o 15

LAC = 202 + 152 = 25 in. d C B = LAC 10 = 15.0 in. d B C = 15 sin 53.13o = 12.0 in. d B D = 15 15 sin 53.13o = 3.0 in.
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4.2 Moments and Their Characteristics

Varignons Theorem: The moment of the resultant of a system of forces
with respect to any axis or point is equal to the vector sum of the moments of the individual forces of the system with respect to the same axis or point. r Moment of R about O : M O = Rd = R (h cos ) O r Moment of F1 about O : M 1 = F1d1 = F1 (h cos 1 ) 1 d1 r Moment of F2 about O : M 2 = F2d 2 = F2 (h cos 2 ) d h R cos = F1 cos 1 + F2 cos 2 2 d
2

r F1

r R

Rh cos = F1h cos 1 + F2 h cos 2

r F2
F1 cos 1

r r r R = F1 + F2

Rd = F1d1 + F2 d 2 M R = M1 + M 2 r r r r In general R = F1 + F2 + L + Fn
M O = Rd = F1d1 + F2 d 2 + L + Fn d n
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F2 cos 2

R cos

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4.2 Moments and Their Characteristics

Example of Varignons Theorem

d = 5 cos 30o 3 sin 30o = 2.83 ft M O = Fd = 500( 2.83) = 1415 ft lb

Fx = F cos 30o = 500 cos 30o = 433.0 lb Fy = F sin 30o = 500 sin 30o = 250.0 lb M O = F4 (3) Fx (5) = 1415 ft lb
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4.2 Moments and Their Characteristics

Example of Varignons Theorem and Principle of Transmissibility
Determine Moment of F about B

M B = Fd

But d is not easy to determine

Find the components of F first Fx = F cos 30o = 300 cos 30o = 259.8 lb Fy = F sin 30o = 300 sin 30o = 150.0 lb M B = Fx (0.25) Fy (0.20 ) = 95.0 N m

d 2 = 0.25 + (0.2 ) tan 30o = 0.366 m M B = Fx d 2 = 259.8(0.366 ) = 95.0 N m Move F to D (aligned horizontally with B) d 3 = 0.20 + (0.25) cot 30o = 0.633 m M B = Fy d 3 = 150.0(0.633) = 95.0 N m
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Move F to C (aligned vertically with B)

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4.3 Vector Representation of a Moment

Dot and Cross Products of Vectors (Appendix A) r C
r eC

Plane conta in r A and B ing

Dot (Scalar) product of two vectors yields a scalar

r A

r r A B = AB cos = Ax Bx + Ay B y + Az Bz
Cross (Vector) product of two vectors yields a vector

r r r r A = Ax i + Ay j + Az k r r r r = Ax Ay Az B = Bx i + B y j + Bz k r Bx B y Bz r r r r C = C x i + C y j + C z k = CeC r r r r r r r = (Ay Bz Az B y )i + ( Az Bx Ax Bz ) j + (Ax B y Ay Bx )k eC A, eC B r r r eC plane containing A and B

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r r r r C = A B = AB sin e r r r i j k

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4.3 Vector Representation of a Moment

Cross Product of Two Vectors r r r r r r r r A = Ax i + Ay j + Az k , B = Bx i + B y j + Bz k r r r i j k r r r r r r C = A B = Ax Ay Az = C x i + C y j + C z k

r i Ax Bx

B x B y Bz r r r r j k i j Ay By

r k

r i

r j

Az = Ax Ay Az Ax Ay Bz B x B y Bz B x B y r r r + + + = (Ay Bz Az B y ) i + ( Az Bx Ax Bz ) jr+ (Ax B ry AyrBx ) k Cxi + C y j + Cz k r 2 2 2 C = C x + C y + C z , eC = C

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4.3 Vector Representation of a Moment

Cross Product of Two Vectors r r r r r r r r Example : A = 3i 4 j + 2k , B = 2i + 5 j + 3k
r i r r r C = A B = Ax r r r r r i j k i j = 3 4 2 3 4 2 Bx B y Bz 2 5 3 5 3 2 5 r r r = (Ay Bz Az B y ) i + ( Az Bx Ax Bz ) j + (Ax B y Ay Bx ) k r r r = ( 4 3 2 5) i + (2 ( 2 ) 3 3) j + (3 5 ( 4 ) ( 2 )) k r r r = 22 i 13 j + 7 k r r r r r r r 22i 13 j + 7k = 0.830i 0.491 j + 0.264k NOTE : eC = 2 2 2 ( 22 ) + ( 13) + 7 r r A eC = (3)( 0.830) + ( 4 )( 0.491) + (2 )(0.264 ) = 0 r r B eC = ( 2 )( 0.830) + (5)( 0.491) + (3)(0.264 ) = 0 r j Ay
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r k Az =

r r r i j k 3 4 2

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r F

4.3 Vector Representation of a Moment

2-D
y

Moment of a Force About A Point z 3-D

r F

d O

d
x

r
r
y
O

M O = Fd M O = Fd r r r r M O = r F = Fr sin e r r : The angle between F and r r e : A unit vector perpendicular r r to the plane containing F and r
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4.3 Vector Representation of a Moment

Moment of a Force About A Point O Direction of M is determined Plane containing by using the right-hand rule r r r r F and r r F r d r1 r r2
r r r r M O = r F = r F sin e r r d Fr e = M O e r =r r M O = r1 F = r1 F sin 1 e r r r = r2 F = r2 F sin 2 e r r = d F e = M Oe

d = r sin

d = r1 sin 1 = r2 sin 2

Moment of a force about O is equal to the cross product of a vector drawn from O to any point along the force and the force itself.
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4.3 Vector Representation of a Moment r

Example : Moment of F about point B
r F

r rA

r rB
x
O

r r r = rA B B
y

Select any point (A) on the line of action of F. Determine vector r using the coordinates of points A and B: r = rA/B = rA rB Compute the moment of F about B: MB = r F = rA/B F

If the coordinates of points A and B are (xA, yA, zA) and (xB, yB, zB), r r r r r r r then r = r = r r = ( x x ) i + ( y y ) j + (z z ) k
AB A B A B A B A B

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4.3 Vector Representation of a Moment

2-D Cases

y
r r

r F

x
r F

r r MO = MO k r = Fd k

y
Fy

r F

r r r MO = r F

O d y
r r
O

r = Fr sin k
O

rx
r r ry

Fx
x

r = (rx Fy ry Fx ) k

F
r r
x

= F r Fx = F cos F Fy = F sin F rx = r cos r ry = r sin r

sin = sin ( F r )
= sin F cos r cos F sin r r r M O = Fr sin k

r = (Fr sin F cos r Fr cos F sin r ) k r = (rx Fy ry Fx ) k

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4.3 Vector Representation of a Moment

2-D Cases - Example
1. Moment of F about O 2. Perpendicular distance d from O to F

rA B d
2. Determine the distance d:

r r r r r F = 1000 0.80i + 0.60 j = 800i + 600 j N r r r r r = rA O = 0.10i + 0.20 j m r r r i j k r r M O = r F = rx ry 0 Fx Fy 0 r r r = (rx Fy ry Fx )k = M z k = 100k N m

1. Moment of F about O

( (

) )

rA B

r r = 0.10i + 0.35 j

r r r r M B = rA B F = 220k N m

r MB d = r = 0.22 m F
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4.3 Vector Representation of a Moment

3-D Cases r r r r r = rx i + ry j + rz k r r r r F = Fx i + Fy j + Fz k r r r i j k r r r M O = r F = rx ry rz

Fy Fz r r r = (ry Fz rz Fy ) i + (rz Fx rx Fz ) j + (rx Fy ry Fx ) k r r r = Mx i + My j + Mz k r = M O eM M x = ry Fz rz Fy M y = rz Fx rx Fz M z = rx Fy ry Fx

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Fx

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4.3 Vector Representation of a Moment

Magnitude and Direction of the Resulting Moment

r r r r r M O = M x i + M y j + M z k = M O eM
2 2 MO = M x + My + M z2 r r r r eM = cos x i + cos y j + cos z k

Mx 1 M y 1 M z x = cos M M z = cos M y = cos O O O

1

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4.3 Vector Representation of a Moment

Force as a Sliding Vector (Principle of Transmissibility)

r rC

r rB

r rA
A

r F

B C

r r r r r rA = rB + rA B = rC + rA C r r r M O = rA F r r r = (rB + rA B ) F r r r = (rC + rA C ) F r r r r Q rA B // F rA B F = 0 r r r r Q rA C // F rA C F = 0
r r r r r r r M O = rA F = rB F = rC F
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4.3 Vector Representation of a Moment

1. Moment of F about O 2. Perpendicular distance d from O to F

2 2 2 (75) + (150) + (140) r r r = 300.4i + 600.8 j + 560.7k N r r r r rA O = 0.20i + 0.25 j + 0.15k r r r i j k r r r M O = rA O F = 0.20 0.25 0.15 300.4 600.8 560.7 r r r = 50.1i 67.1 j + 45.1k N m
= 95.1 N m

r F = 875

r r r 75i + 150 j + 140k

r MO = MO =

(50.1)2 + ( 67.1)2 + (45.1)2

M O 95.1 d= = = 0.1086 m = 108.6 mm F 875

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4.3 Vector Representation of a Moment

Moment of a Force About A Line (Axis)

r r r r M O = r F = M O eM

M OB

r r r r M OB = M O en en r r r r r = r F en en = M OB en r r r r r r r r r r r = M O en = r F en = (ry Fz rz Fy )i + (rz Fx rx Fz ) j + (rx Fy ry Fx )k n x i + n y j + nz k r r r i j k n x n y nz r = rx ry rz en = rx ry rz = (ry Fz rz Fy )n x + (rz Fx rx Fz )n y + (rx Fy ry Fx )nz Fx Fy Fz Fx Fy Fz

r r r r en = n x i + n y j + nz k

( [(

][

) ]

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4.3 Vector Representation of a Moment

Determine moment of F about line OC
r F = 500

r r eOC = 1.0i r r M OC = M O eOC = 239.2 N m

r r r rB O = 0.85i + 0.75k r r r i j k r r r 0 0.75 M O = rB O F = 0.85 338.9 318.9 182.9 r r r = 239.2i 98.7 j + 271.1k N m

2 2 2 ( 850) + ( 800) + (458.8) r r r = 338.9i 318.9 j + 182.9k N

r r r 850i 800 j + 458.8k

1.0 r r r = rB O F eOC = 0.85

0 0

0 0.75 = 239.2 N m

338.9 318.9 182.9

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