Chapter 2 Force 3D

FORCE SYSTEMS
2-D Force Systems
3-D Force Systems
Force
Force
Moment,Couple
Moment, Couple
Resultants
Resultants
3D-Force Systems
Rectangular Components, Moment,
Couple, Resultants
Moment (3D)
r
r
r
Moment about
r rF
M
P,F
point P :
moment
axis
X
r
F
Y
r
F2
P
O
r r
-Magnitude: | r || F | sin Fd
-Direction: right-hand rule
-Point of application: point O
(Unit: newton-meters, N-m)
In 3D, forces (generally) are not in the same plane.
In many cases on 3D, d (the perpendicular distance) is hard to

find. It is usually easier to find the moment by using the vector
approach with cross product multiplication.
4
Cross Product
r
r
r
M o ,Fr r F
i
rx
j
ry
Fx
Fy
i j
k
rz rx ry
Fx Fy
Fz
rz
Fz
rx
Fx
ry
Fy
r
M o ( rxi
ry j rz k) ( Fxi Fy j Fz k )
rx Fx (i
i ) rx Fy (i j ) rx Fz (i k )
ry Fx ( j
i ) ry Fy ( j j ) ry Fz ( j k )
Beware: xyz axis
must complies with
right-hand rule
rz Fx (k
i ) rz Fy (k j ) rz Fz (k k )
r
M o ( ry Fz rz Fy )i ( rz Fx rx Fz ) j ( rx Fy ry Fx )k
5
Moment (Cross Product)
r
M o ( ry Fz rz Fy ) i ( rz Fx rx Fz ) j ( rx Fy ry Fx ) k
Physical Meaning
F
z
Fz
Fy
Fx
rz
y
rx
ry
Mx = - Fyrz + Fzry
My = +Fxrz - Fzrx
Mz= -Fxry +Fyrx
x
6
Moment
Moment About a Point #4

v
F3
v
F1
v
r1
v
r3
v
F2
Resultant Moment of Forces
v
r2
v
MO
x
7
Varignons Theorem (Principal of Moment)
F1
F3
r
O
- Two or more concurrent forces

- their moments about a point may be
found in two ways
F2
- for nonconcurrent forces see

Resultants sections (2D - 2/6, 3D- 2/9)

M o r F1 r F2 r F3 ... r ( F1 F2 F3 ...)
r ( F )

M o (r F ) r R
- Sum of the moments of a system of concurrent forces about a
given point equals the moment of their sum about the same point
8
Determine
the vector expression for the
moment Mo of the 600-N force about point O.

The design specification for the bolt at O
would require this result. M

r F
O
OA
rOA (0.05 0.13 sin 60 ) i

(0.14 0.13 cos 60 ) j 0.15 k
rOA 0.1626 i 0.205 j 0.15 k
v
F ?
Fz 600sin 45o
Fxy 600cos 45o
Fx Fxy sin 600 600cos 45o sin 60o

Fy Fxy cos 600 600cos 45o cos 60o
r
F 600(0.612 i 0.354 j 0.707 k )
r
r
r
r
M O ,F rOA F
i
0.1626 0.205 0.15

367
212 424
55.2 i 13.86 j 40.8 k

367 i 212 j 424 k
Ans
9
r
Using: rOP (3D Vector)
6m
MO
rOP
0.8m
400N P
1.2m
r
rOP 6i 0.8 j 1.2k
r
F 400 j
r
r
r
M O rOP F
i
-6
j
0.8
-400
k
1.2 480i 2400k
0
N-m
10
r
Using: rOQ (3D vector)
x
y
VD2
6m
MO
rOQ
0.8m
400N Q
1.2m
r
rOQ 6i 0 j 1.2k
r
F 400 j
r
r
r
M O rOQ F
j
i
k
-6
0
1.2 480i 2400k
0 -400 0
N-m
Ans 11
r
Using: rOQ (Scalar 3Plane)
r
MO
M O , x rz Fy 1.2 400 480
plus
plus
M O, y 0
rx
M O , z rx Fy 6 400 2400
rz
M O =480i+2400k
N-m
Ans
Not-Recommended Method
12
Moment
Example Hibbeler Ex 4-4 #1

Determine the moment
about the support at A.
v
rB (1i 3 j 2k ) m
v
rC (3i 4 j) m
v
v v
rCB rB rC ( 2i 1j 2k ) m
13
Moment
v
rCB ( 2i 1j 2k ) m
v
v rCB
2i 1j 2k
1
uF
( 2i 1j 2k )
rCB
( 2)2 ( 1)2 22 3
v
v
F (60 N)uF ( 40i 20 j 40k ) N
14
Moment
j
i
k
v
v v
M A rC F 3
4
0 (160i 120 j 100k ) N m
40 20 40
M A (160)2 ( 120)2 (100)2 223.61 224 N m
#
15
Moment
v
v v v v
M A rC F rB F
i
j
k
v
v v
M A rB F 1
3
2 N m
40 20 40
v
M A (160i 120 j 100k ) N m
16
x
Moment about Point
r
r
r
M A, Fr r F
AB
Moment about line
( projection effect )
r
r
M A,Fr ,AB ( M A,Fr eAB ) eAB
18
Finding moment of force about (arbitary) axis

r
M
r
M
r r
r F rx
Fx
ry
Fy
rz
Fz
r
M O ,Fr
r
M o ,Fr ,
r
O
r
M
r
M
Depend on line nly,

Not depend on point O
r
r
r
M o ,Fr , (( r F ) n )n
r r
( r F n ) rx
Fx
ry
Fy
rz
Fz
rx
Fx
ry
Fy
rz
Fz
, , are the directional cosines of the unit vector n

(i.e. n i j k) 19
r
M A,Fr
r
M B ,Fr
F
A
r
M A,Fr
r r r
C A B
r
r
r
r
C _|_ A and C _|_ B
r
M B ,Fr
r
r
M A,Fr , M B ,Fr ,
r r
rA rB
r
r r
r r
( rA rB ) F _|_ ( rA rB )
r
r r
( rA rB ) F _|_ n
(generally)
where A, B on line
r
Moment of F in the direction of
r
Moment of F projected to line
r
Moment of F about line
r
r
r
M A,Fr , M B ,Fr , ... @ M Fr ,
where A, B are any points on the line
r
Moment of F about point {A,B}
in the direction of
M A,Fr ,
r r
( rA F ) n
r
r r
r
({( rA rB ) rB } F ) n
r r r
r r
(( rA rB ) F rB F ) n
r
r r
r r
(( rA rB ) F ) n ( rB F ) n
r
r
M B ,Fr ,
0
Moment about axis is sliding vector.
20
Finding moment of force about (arbitary) axis

r
M
r
M
r r
r F rx
Fx
ry
Fy
rz
Fz
r
M O ,Fr
r
M o ,Fr ,
r
O
r
M
r
M
Depend on line nly,

Not depend on point O
r
r
r
M o ,Fr , (( r F ) n )n
r r
( r F n ) rx
Fx
ry
Fy
rz
Fz
rx
Fx
ry
Fy
rz
Fz
, , are the directional cosines of the unit vector n

(i.e. n i j k) 22
r
r
rQX
Moment
Point P
F nabout
r r
r
moment
axis
rQX ( F F ) n
r r
rX
r
rQX F rQX rF n
F r
r
r
r
rQX F n rQX F n
d
Moment about line Definition)

Line
(moment axis)
Direction:
right-hand
rule
M , Fr
r
| F | d
Plane :
Plane _|_ n
X Plane
r
F
Point Q :
Q Line
How to find Moment about line ?
r
M ,Fr
r
r
r
r
M P , F rPX F
r
,F
r
M , Fr : | F | d
r
F
r
F
Q Plane
Hard to find
r
r
r
r
r
r
| rQX F | rQX F n rQX F
A : Any point
on line
r
M A, Fr n
r
n M Q , Fr n
Hard to find
Moment about line

We will prove that
r
F
Line
(moment axis)
r
(M A, Fr n ) M A, Fr ,
r
M ,Fr
A : Any point
on line
is equal to
M Q , Fr ,
r
M Q , Fr n
r
Moment of F about point {A,Q}
projected to line
M , Fr
r
M Q , Fr n
r
M A, Fr n
A : Any point on line
M A, Fr ,
r r
r
( A B) _|_ A
r
r
r
(rAQ F ) _|_ rAQ
r
rAQ // n
r
r
rAQ F _|_ n
r
r
rAX F n
r
r
r
(rAQ rQX ) F n
r r
r
r
rAQ F rQX F n
r
r
r
r
(rAQ F ) n (rQX F ) n
must prove
to be
M Q , Fr ,
Moment about line

r
F
Line
(moment axis)
r
(M A, Fr n ) M A, Fr ,
is equal to
r
M ,Fr
M Q , Fr ,
r
M Q , Fr n
Point A is any point in the line
Moment about axis is sliding vector.
r
r
M A, Fr , M B , Fr , ...
where A, B are any points on the line
r
Moment of F
about point A
in the direction of
r
@ M , Fr
r
Moment of F
about line
r
F
Moment of
in the direction of
Moment of Fr projected to line
27
Find M z of T (the moment of about z-axis

T
passing through the base O )

r
A
rAB 15
j 12i 9k
r
12i 15 j 9k
T 10
kN
2
2
2
12 15 9
15 m
T = 10 kN
O
9m
12 m
r
r r
j 10(0.566i 0.707 j 0.424k)
M o r T 15
150( 0.566k 0.424i) kN-m
r
M z ( M o k) 84.9 kN-m
x
A(0,15, 0) B(12, 0, 9)
Figure must be shown
r
r
M z ( M o k) k 84.9k kN-m
r
r
r
M z , Fr { (r T ) k } k
r
r
r
M O , Fr (r T )
OK
Ans
OK
not OK
OK
28
2/133 A 5N vertical force is applied to the knob of the window-opener mechanism

when the crank BC is horizontal. Determine the moment of force about point A and
about line AB.
n AB
n AB
25cos30
Cmm
D
r 75 mm
B
50cos30
r
rAD mm
(75cos 30o )i 75 j
r
r r
MA r F
(75 cos 30i 75 j ) ( 5k)
375i 325 j
n AB ,1 cos 30i sin 30k

r
M AB M A n AB 162.26
N-mm
r
r
M AB ( M A n AB )n AB
126.26(cos 30 o i sin 30 o k) N-mm
Ans
N-mmAns
n AB (cos 30i sin 30k)

r
M AB M A n AB + 162.26
r
r
M AB ( M A n AB )n AB
126.26 (cos 30o i sin 30o k)
N-mm 29
Moment
Determine the moments of this force about the x and a axes.
v
rA ( 3i 4 j 6k ) m
u x i
v v
M x u x (rA F )
1
3 4 6 N m
40 20 10
80 N m
v
M x 80i N m
#
30
Moment
3
4
ua ( i j) m
5
5
v v
Ma ua (rA F )
3 5 4 5 0
3
4
6 N m
40 20 10
3 4 6 4 3 6
( )
N m
5 20 10 5 40 10
120 N m
v
Ma Maua (72i 96 j) N m
#
31
Moment
Determine the moment MAB produced by F = (600i + 200j 300k) N,

which tends to rotate the rod about the AB axis.
v v
M AB uB (r F )
v
rB
0.4i 0.2 j
uB
rB
0.42 0.22
u 0.89443i 0.44721 j
B
Vector r is directed from any

point on the AB axis to any
point on the line of action of
the force.
v v
r rD 0.2 j m
32
Moment

M AB
v v
uB (rD F )
0.89443 0.44721
0
0
0.2
0
600
200
300
0.89443
0
0.2
600
300
53.666 N m
v
M AB M AB uB
( 48.0i 24.0 j ) N m #
33
Moment
Vector r is directed from any point on the AB axis to any point on

the line of action of the force.
v v
try r rBC 0.2i 0.2 j 0.3k m
M AB
v
v
uB (rBC F )
0.89443 0.44721
0
0.2
0.2
0.3
600
200
300
v
rBC
53.665 N m
34

M A,Fr
F
r
p line :
r
r
M p ,Fr , = M o ,Fr ,
F
n
r
A
position vector:
from A to point of application
of the force
r
r
r
M Fr , A r F
r
r
r
M Fr , { ( r F ) n }n
F
r
X
position vector:
from A to any point on
line of action of the force.
position vector:
from any point on line to
any point on tline of action of
the force.
36
parallel
with line
r
F2
r
M ?
n
r
F1
O
P
r
F3
r
F1 intersects
with that axis.
r
F2 is parallel
with that axis.
r r
{ {( r Fi ) n } }n
3
i=1
Why?
r r
{ ( r F3 ) n }n
M , Fr1
r
r
= roo F1 n 0
r
r
r
M P, Fr2 _|_ F2 and F2 / / n
r
M P , Fr2 _|_ n
Forces which interest or parallel with axis,

do not cause the moment about that axis
37
Couple
Couple is a summed moment

produced by two force of equal
magnitude but opposite in direction.
F
B
rB
rA
r
r
r
r r r
r r
M O rA F rB ( F ) ( rA rB ) F

M rF
magnitude and direction

Do not depend on O
from any point on line of the action

to any point on the other line of action
Moment of a couple is the same about all point

Couple may be represented as a free vector.
39
The followings
are equivalent
couples
F
F
d/2
2F
2F
Every point has the equivalent

moment.
2D representations: (Couples)
couple is
a free vector
M
40
- Couple tends to produce a pure rotation of the body about an

axis normal to the plane of the forces (which constitute the
couple); i.e. the axis of the couple.
M1
M2
F2
F1
F2
F1
M2
M1
F
F
- Couples obey all the usual rules that govern vector quantities.
- Again, couples are free vector. After you add them (vectorially), the
point of application are not needed!!!
- Compare to adding forces (i.e. finding resultant), after you add the forces
vectorially (i.e. obtaining the magnitude and direction of the resultant), you
still need to find the line of action of the resultant (2D - 2/6, 3D - 2/9).
41
30 N
0 .0
60
6m
0.0
4
0.05 m
y
25 N
25 N
0.1
2) Find two forces F and F
on two faces of the block that

parallel to the y-z plane that
will replace these four forces.
(25)(0.1)= 2.5 N-m

60
1) Replace the two couples

with
a single couple M that still

produces the same external
effect on the block.
(forces act parallel to y-z plane)
M 1.82 2.52 2(1.8)(2.5) cos 60 o 2.23 N-m
1.8
2.23
sin sin 60o
y
z
30 N
60
60
(30)(0.06)= 1.8 N-m
44.3o
M 2.23
22.3 N
d
0.10
42
Moment

Replace the two couples acting on the pipe column by
a resultant couple moment.
M1 d F (150 N)(0.4 m) 60 N m
v
M1 (60i) N m
v
v
v
M2 rDC FC
4 3
(0.3i ) 125 j k N m
5
5
30( i j ) 22.5( i k ) N m
(22.5 j 30k ) N m
43
Moment
v
v
v
MR M1 M2 (60i 22.5 j 30k ) N m #
44
MO,F
z
200mm
MO,240N-m
O
x
30O
250mm
240N-m
1200N
Vector Diagr
r
F 1200(cos 30o j sin 30o k)
r
r 0.2i 0.25k
r
r r
r
M O ,F r F
i
0.2
j
0
k
0.25 -260i 120 j 208k
1039 600
r
M O , 240N-m 240 cos30o j - sin 30o k
r
r
r
M O M O ,Fr M O ,240 N m - 260i 328 j 88k
N-m Ans
45
Concepts #1
Review
Vectors can be manipulated by scalar multiplication,

addition, subtraction, dot product, cross product and
mixed triple product. Vectors representing can be
classified into free, sliding and fixed vectors.
Position vectors describe the position of a point relative
to a reference point or the origin.
Statically, force is the action of one body on another.
In dynamics, force is an action that tends to cause
acceleration of an object. To define a force on rigid
bodies, the magnitude, direction and line of action
are required. Thus, the principle of transmissibility is
applicable to forces on rigid bodies.
46
Concepts #2
Review
To define a moment about a point, the magnitude,

direction and the point are required. To define a
moment about an axis, the magnitude, direction and
the axes are required. To define a couple, the
magnitude and direction are required.
47
Chapter Objectives Descriptions #1

Use mathematical formulae to manipulate physical
quantities
Specify idealized vector quantities in real worlds
and vice versa
Obtain magnitude, direction and position of a vector
Manipulate vectors by scalar multiplication, addition,
subtraction, dot product, cross product and mixed
triple product
Describe the physical meanings of vector
manipulations
Obtain position vectors with appropriate
representation.
48

Use and manipulate force vectors
Identify and categorize force vectors
Describe the differences between force
representation in rigid and deformable bodies
Identify and represent forces in real worlds with
sufficient data and vice versa
Manipulate force vectors
49

Use and manipulate moment vectors
Identify and categorize moment vectors
Describe the differences between moments about
points, moments about axes and couple
Identify and represent moments in real worlds with
sufficient data and vice versa
Manipulate moment vectors
50
Review Quiz #1
Review

quantities
Give 4 examples of vector quantities in real world.
In how many ways can we specify a 2D/3D
vector? Describe each of them.
How can we prove that two vectors are parallel?
What are the differences between the vector
additions by the parallelogram and triangular
constructions?
Even though we can manipulate vectors
analytically, why do we still learn the graphical
methods?
51
Review Quiz #2
Review

quantities
What are the mathematical definitions of dot,
cross and mixed triple products?
What are the physical meanings of addition,
subtraction, dot product, cross product and mixed
triple product?
What are the meanings of associative, distributive
and commutative properties of products?
What are the differences between 2D and 3D
vector manipulation?
52
Review Quiz #3
Review
Obtain position vectors with appropriate

representation.
Given points A and B, what information do you
need to obtain the position vector and what name
will you give to the position vectors and distance
vector between the two points?
53
Review Quiz #4
Review
Use and manipulate force vectors

For the following forces tension in cables, forces
in springs, weight, magnetic force, thrust of rocket
engine, what are their classification in the following
force types external/internal, body/surface and
concentrated/distributed forces?
If a surface is said to be smooth, what does that
mean?
What are the differences between force
representation in rigid and deformable bodies?
What are the additional cautions in force vector
manipulation that are not required in general
vector manipulation?
54
Review Quiz #5
Review

Give 5 examples of moments in real world and
approximate them into mathematical models.
What information do you need to specify a
moment?
What is the meaning of moment direction?
If a force passes through a point P, what do you
know about the moment of the force about P?
What are the differences between physical
meanings of moments about points, moments
about axis and couples?
55
Review Quiz #6
Review

As couples are created from forces, why do we
write down the couple vectors instead of forces in
diagrams?
Given a couple of a point P, what do you know of
the couple about a different point Q?
If we know moments about different points or
axes, why cant we add components of moments
as in vector summation?
Why can we simply add couple components
together?
56
Resultant
Resultant Definition
The force-couple systems or force systems can be

reduced to a single force and a single couple (together
called resultant) that exert the same effects of
Net force
Tendency to translate
Net moment Tendency to rotate
Two force-couple systems are equivalent if their
resultants are the same.
57
Force Couple Systems
r r r
C r F
F
B
F
No changes in the net
external effects
r r r
C r F : Couple of F about point B

calculated the same way as
Moment of Point B by the
force F at the old position
from new location (point B)
to any point on the line of action of F

(which applied at the old point)
59
MO
Vector diagram
Move 3 forces to point O
r
F1200 1200 -sin10o i cos10o j
r
r
F800 800i
F200 200i
r
r r
r
r
R F F1200 F800 F200 792i 1182 j N
r
r
r
r
r
M O M M O ,1200 M O ,800 M O ,200
r
r1200 0.075i - 0.220k
r
r800 0.1 j 0.55k
r
r200 -0.1 j - 0.55k
Ans
r
r
r
r
r
r
r1200 F1200 r800 F800 r200 F200
260i
45.8 j 88.6k 440 j 80k 110 j 20k
260i 504 j 28.6k
60
N-m
Ans
Resultant

Replace the current system by
an equivalent resultant force
and couple moment acting at
its base, point O.
v
F1 800k N
v
v
v
F2 300uCB 300(rCB rCB )
0.15i 0.1j
( 0.15) (0.1)
300
( 249.62i 166.41j ) N
v
4 3
M 500( j k )
5
5
( 400 j 300k ) N m
61
Resultant

v
v
FR F
v
v v
FR F1 F2
v
FR ( 249.62i 166.41 j 800k ) N
v
F ( 250i 166 j 800k ) N
R
62
Resultant

v
v
MR M
O
v
v
v
MRO MC MO
v
v v v
v v
MRO M (rC F1 ) ( rB F2 )
v
MRO ( 400 j 300k ) (1k ) ( 800k )
v
MRO ( 0.15i 0.1j k ) ( 249.62i 166.41 j )
v
v
MRO ( 400 j 300k ) (0)
v
MRO ( 166.41i 249.62 j 0.0005k )
v
MRO ( 166i 650j 300k ) N m
#
63
Recommended Problems
3D Moment and Couples:
2/124 2/125 2/129 2/132
64
Wrench
Resultant
F1
F2
M2
M3
M1
F3
1) Pick a point (easy
to find moment arms)
F1
F2
- r1 start from ___________

to_____________
R
O
F3
2) Replace each force with

a force at point O + a

couple
M 1 r1 F1
3) Add the forces

vectorially to get the
resultant force (since the
forces are concurrent now)
and add the couple
vectorially to get the
resultant couple
R F1 F2 F3 ... F

M M 1 M 2 M 3 ... (r F )
66

F1
R F1 F2 F3 ... F

M M 1 M 2 M 3 ... (r F )
F2
F3
R x Fx
R y Fy
R z Fz
R ( Fx ) 2 ( Fy ) 2 ( Fz ) 2
i
Vector
Scalar
(2D * 3Plane)
r r r
M r F rx
ry
Fx
Fy

M x (r F ) x
( ry Fz rz Fy )i ( rz Fx rx Fz ) j
rz
( rx Fy ry Fx )k
Fz

M y (r F ) y

M z (r F ) z
M M x2 M y2 M y2
67
- The choice of point O is arbitrary;

the resultant couple will not be the same for
each point O selected (in general), but the
resultant force will be the same.
Ex)
- The resultant couple cannot be cancelled

by moving the resultant force (in general).
r
r
X
M which // R, cannot be cancelled
r r r
N rR
M which |_ R, can be cancelled.
Wrench Resultant (not very useful)

- All force systems can be represented with a wrench resultant as
shown in the figures
Positive wrench
Positive if
right-hand rule
Negative wrench
68
r
r
for N M 1
r
M1
d r (move to right)
R
How to find Wrench Resultant
M1
M-R
plane
r
M1 N
M2
O
M2
Plane Containing R
and
Vector approach see ex. 2/16
with M-R plane
nR
r r
M1, M 2
How to find
r r
( knowing M , R )
r
r
M 2 { M n R } nR
r
r r
M1 M M 2
69
The simplest form of force-couple system

3D
any forces + couples system

single-force + single couple
(which // with each other)wrench resultant
2D
any forces + couples system

single-force system (no-couple)
OR single-couple system
F1
F2
F3
Why 2D is different from 3D?
70

F1
F2
Special cases: Wrench Resultant

1) Coplanar: 2D (Article 2/6)
F3
F1
2) Concurrent force:
F2
F3
the resultant will pass through the point of concurrency.

No resultant moment at concurrent point. Pick the point
of concurrency!
3) Parallel forces (not in same plane):

single-force system
(no-couple)
z
x
O
y
OR single-couple system
71
Sample problem 2/13
Find the resultant
z
50 N
Move all force to point O
70 N-m
100 N-m
80 N
50 N
80 N
x
r
R (80 80)i (100 100) j
r
(50 50)k 0 N
96 N-m
1.2
O
1.6
r
M 80(1.2)
j 50(1.6)i 100(1)k
100 N
70i 96 j 100k = 10i N-m
100 N
y
pass thru O: no need to calculate couple
Ans
r r
R
0
r
M 80(1.2)
j 100(1)k 50(1.6)i 70i 96 j 100k
10i N-m
72
50 N
z
Find the resultant

r
R ( 50 500 200 300)
j 350 j N
500 N
r
M O 50(0.35)i 50(0.5) k
- 200(0.35) k
.35
y
300 N
200 N
.35
- 300(0.35)i
Moving R
- 87.5i -125k N-m can erase M
0.5
0.5
completely
New point: (x,y,z)
x
R
y
R |_ M
r
r r
Couple cancelled: M O (- xi - yj - zk ) R 0
r r
Equivalent System (at O): ( xi yj zk ) R M
Which quadrant?
(350 x )k (350 z )i 87.5i 125k

x
-125
-87.5
-0.357 z
0.250
350
-350
y : any value
73
74
Find the wrench resultant, give coordinates on x-y plane that

the wrench resultant acts.
Solution 0 (Wrong)
r
R
O
r
M O 0.06k 40
j (0.1i 0.08 j ) 40k
2.4i
4 j 3.2i 0.8i 4 j
r
MO
z
y
x
r
R 20i 40 j 40k N
P
z
y
r
R
Move R to point P (x,y,z), to cancel the couple

r
r r
Couple cancelled: M O (- xi - yj - zk ) R 0
r
r
Equivalent System (at O): M O ( xi yj zk ) R

40 y 40 z 0.8
20 z 40 x 4
40 x 20 y 0
y z 0.02
z 2 x 0.2
2x y 0
2 x z 0.02
z 2 x 0.2
unable to solve!!
Generally in 3D, we can not change forcecouple system to single-force system.
75

Solution 1: Direct Method
z
r
R
O
2.4i
4 j 3.2i 0.8i 4 j
r
MO
M2
O
n Rr
M1
r
R 20i 40 j 40k N
r
M O 0.06k 40
j (0.1i 0.08 j ) 40k
1
202 402 402
20i 40 j 40k
r
r
M O ,// ( M O nRr ) nRr
144
(
)
60
negative wrench
r
M O ,|_
1
(20i 40 j 40k)
60
(0.8i 1.6 j 1.6k)

r
r
M O ( M O nRr )nRr 1.6i 2.4 j 1.6k
76

r
r
4 j
40 j 40k N
0.8
i
R
20
i
O
M1
r
r
M O ,// ( M O nRr )nRr (0.8i 1.6 j 1.6k) N-m
M2
r
r
r
M O ,|_ M O ( M O nRr )nRr 1.6i 2.4 j 1.6k
new point P: (x,y,z)

r
M1 N
M2
r
r r
M O ,|_ N 0
old point O: (0,0,0)
r
r r
( xi yj zk ) R M o ,|_ 0
( xi
yj zk) (20i 40 j 40k )
1.6i 2.4 j 1.6k
line of action
40 y 40 z 1.6
20 z 40 x 2.4
40 x 20 y 1.6
y z 0.4
2 x z 0.12
y z 0.4 2 x 0.8
z 0 : x 0.6 y 0.4
Ans
77

Solution 2: Equivalent System
Assume (x,y,0) is the point where wrench passes.
r
M O ,Sys1 0.06k 40
j (0.1i 0.08 j ) 40k
2.4i
4 j 3.2i 0.8i 4 j
r
r
r
r
M O ,Sys1 M O ,Sys 2
RSys1 RSys 2
r
R 20i 40 j 40k N
r
r r
M O ,Sys 2 ( xi yj ) R M P
z
y
x
O
r
MP
r
R
(40 y )i (40 x ) j (40 x 20 y )k M P
Parallel
Condition
P
y
x
r
1
(20i 40 j 40k)
M P M n Rr M
60
M (+ or is ok)
r
M
2M
2M
M O ,Sys 2 (40 y )i ( 40 x
) j (40 x 20 y
)k
3
3
3 78

r
M O ,Sys1 2.4i
4 j 3.2i 0.8i 4 j
r
M
2M
2M
M O ,Sys 2 (40 y )i ( 40 x
) j (40 x 20 y
)k
3
3
3
r
r
M O ,Sys1 M O ,Sys 2
M
0.8
3
2M
40 x
4
3
2M
40 x 20 y
0
3
40 y
y 0.04
The coordinate in x-y

plane, where wrench
resultant passes
M 2.4
Magnitude: 2.4 N-m
x 0.06
r
R 20i 40 j 40k N (negative wrench)
r
1
M 2.4 (20i 40 j 40k) N-m
60
P : (0.06, 0.04) m
Ans
Direction: opposite with R

(negative wrench)
79

Solution 3: wrench condition
Move forces to P (x,y,0)
r
R 20i 40 j 40k N | Rr |
r
M P ( xi yj ) 20i
+( xi yj 0.06k) 40 j
202 402 402 60
+((0.1 x )i (0.08 y ) j ) 40k

z
y
r
MP
x
O
(0.8 40 y )i (40 x 4) j (20 y 40 x )k N-m
wrench
condition
r
R
r
R
r
MP
P
y
x
nRr nMr P
P
n Mr P
n Rr
1
(20i 40 j 40k)
60
1
r
(0.8 40 y )i (40 x 4) j (20 y 40 x )k
| MP |
(0.8 40 y ) 2 (40 x 4) 2 (20 y 40 x ) 2
Take it as
the other
80

1
n Rr
nRr nMr P
n Mr P
60
(20i 40 j 40k)
1
r (0.8 40 y )i (40 x 4) j (20 y 40 x )k
| MP |
20 40
40
1
r
i
j k
(0.8 40 y )i (40 x 4) j (20 y 40 x )k
60
60
60
| MP |
M
0.8 40 y
3
2M
40 x 4
3
2M
20 y 40 x
3
M (+ or is ok)
x 0.06
y 0.04
M 2.4
r
R 20i 40 j 40k N (negative wrench)
r
1
M 2.4 (20i 40 j 40k) N-m
60
P : (0.06,0.04) m
Ans
The coordinate in x-y

plane, where wrench
resultant passes
Magnitude: 2.4 N-m
Direction: opposite with R
(negative wrench)
81
r
M
Hibbeler Ex 4-136
The three forces acting on the
block each have a magnitude of
10 N. Replace this system by a
wrench and specify the point
where the wrench intersects the
z axis, measured from point O.
d
d
r r
R F3
r
M
x
r
M //
r
M|_
erasable
r
| M|_ | (10 2)(cos 45o )
d r
2
10
|R |
(dir: )
d 2 2 m
r
R 10 j N
Positive wrench
r
M // (10 2cos 45)( j) 10 2 j N-m
Ans
82
v
FR 10 j N
v
M|| M|| j N m
Hibbeler Ex 4-136
M||
FR
v
v
M O,Sys1 M O,Sys2
d
B
v
v
v
v
v
v
v
v
(rOB F1) (rOA F2 ) (rOB F3 ) (rOD FR ) M|| j
v
v
v
v
v
v
(rAB F1) (rOA F2 ) (rOD FR ) M|| j
( 2k
) 10(cos 45i sin 45 j ) (6 j 2k ) ( 10 j )
(dk
) ( 10 j ) M|| j
10 2i
10 2 j 20i 10di M|| j
y -direction:
10 2 M||
M|| 10 2 14.142 N m
x -direction:
10 2 20 10d d 0.58579 m
83
Equivalent System
The three forces

acting on the
block each have a
magnitude of 10
N. Replace this
system by a
wrench and
specify the point
where the wrench
intersects the z
axis, measured
from point O.
84
Equivalent System
v
v
F system I F system II
v v v v
F1 F2 F3 FR
v
(10 N)(cos 45i sin 45 j) (10 j N) (10 N)( cos 45i sin 45 j ) FR
v
FR 10 j N
85
Equivalent System
Example Hibbeler Ex 4-136
v
FR 10 j N
#3 v
M|| M|| j N m
v
v
M O,system I M O,system II
v
v
v
v
v
v
v
v
(rOB F1 ) (rOA F2 ) (rOA F3 ) (rOD FR ) M|| j
v
v
v
v
v
v
(rAB F1 ) (rOA F2 ) (rOD FR ) M|| j
( 2k m) (10 N)(cos 45i sin 45 j ) (6 j 2k ) m ( 10 j N)

(dk ) ( 10 j N) (M j N m)
||
86
Equivalent System
( 10 2i 10 2 j 20i) N m (10 N)di M|| j

y -direction:
( 10 2) N m M||
x -direction:
M|| 10 2 N m 14.142 N m Wrench:

v
N
F
10
j
R
( 10 2 20) N m (10 N)d
v
M|| 14.1j N m
d 0.58579 m
d 0.586 m
Ans
87
- moment/couple

xy
-
88
Equivalent System
Reduction Summary
Single force +
single couple
General force systems
2D force systems
Single force or
single couple
simplest
systems
3D force systems
Wrench
89
A flagpole is guyed by 3 cables. If the

tensions in the cables have the same
magnitude P (N), replace the forces
exerted on the pole with an eqivalent
wrench and determine the resultant
force R and the point where the axis of
the wrench intersects the x-z plane
nFr nMr
y
r
F1
Assume (x,0,z) is the point where wrench

passes.
r
a ( 9i 20 j 12k) P
F1 P
( 9i 20 j 12k)
25
a 92 202 12 2
r
a (15i 20 j ) P
P
F2 P
(15i
20 j ) (3i 4 j )
5
a 152 202 25
r
F3
r
F2
r
a ( 24 j 18k) P
P
F2 P
( 24
j 18k) ( 4 j 3k )
30
5
a 242 182
x
P: (x,0,z)
r
r r r 3P
RSys F1 F2 F3
(2i 20 j k)
25
90
r
P
M P ( xi
20aj zk) ( 9i 20 j 12k )
25
P
( xi
20aj zk) (3i 4 j )
5
P
( xi 24aj zk) ( 4 j 3k )
5
y
r
F1
r
P
M P {(240a 20 z )i (9 z 12 x ) j (20 x 180a )k}
25
P
{( 4 z )i ( 3z ) j (4 x 60a )k}
5
P
{( 72a 4 z )i ( 3 x ) j (4 x )k}
5
r
F3
r
F2
x
P: (x,0,z)
r
P
3x 6 z
M P {( 24a 12 z )i (
) j ( 24a 12 x )k}
5
5
3P
x 2z
{( 8a 4 z )i (
) j ( 8a 4 x )k}
5
5
91
r
r r r 3P
RSys F1 F2 F3
(2i 20 j k)
25
r
3P
x 2z
MP
{( 8a 4 z )i (
) j ( 8a 4 x )k}
5
5
nFr nMr
1
9 5
y
r
F1
(2i
20 j k)
wrench condition
1
3P
x 2z
r
{( 8a 4 z )i (
) j ( 8a 4 x )k }
| MP | 5
5
M (+ or is ok)
r
F3
r
F2
x
P: (x,0,z)
1
M
1
M
1
M
3P
2
( 8a 4 z )
5
9 5
3P ( x 2 z )
20
5
5
9 5
3P
1
( 8a 4 x )
5
9 5
812
a
405
806
z
a
405
3P
8
8 5
M 9 5
(
a)
Pa
5
405
75
x
92
y R
z O
r r
r
R F800 F1600 2400 j N
r
r r
MO r F
800
r r
r F
MO
2.4m
1600N
0.9m
800Nx
VD1
1600
2.4i
800 j 2.4i 0.9k 1600 j
1440i 5760k N-m
r r
R M O 0
r
R
r
MO
M has no component in the

direction of R.
We can move R to new position

to eliminate this couple completely
93
y R
z O
r
R 2400 j N
MO
2.4m
r
M O 1440i 5760k N-m
1600N
0.9m
VD1
800Nx
y R
r
r r
MO r R
r
r r r
M O (-r ) R 0
1440i 5760k rxi ry k 2400 j
1440i 5760k 2400rx k 2400ryi
rx 2.4
rx 0.6
MO R
z O r
VD2
Ans
94
r
R Fi Fk
F
x
r
M O ai
F k bj ck Fi
MO
a
O
b
R
VD1
F
c
F (a c ) j Fbk
We move R to the new location (x,y,z)

where there is no couple.
r
r r r
M O (-r ) R 0
r
r r
MO r R
F ( a c ) j Fbk ( xi yj zk) ( Fi Fk )
F ( a c ) j Fbk yFi F ( x z ) j Fyk
i : 0 yF y 0
k : Fb Fy y b
Generally b != 0,
Generally in 3D, we can not

howchange
come?
force-couple system
to single-force system.
95
MO
F
x
a
O
b
R
VD1
r
R Fi Fk
F
c
r
M O F (a c ) j Fbk
r
R
1
n R r
(i k )
|R|
2
r
r
1
1
M M O nR nR {( F a c
j Fbk
) (i k )}
(i k )
2
2
Fb
(i k )
2
r
r
r
Fb
Fb
M per M O - M -
i
F
a
c
j
k
2
2
z M
O
x
Or
VD2
r
r r
M per r R
Fb 2 i
F a c j Fb 2 k xri y r j Fi Fk
xr a c
yr b 2
Ans
Note: we can calculate wrench just in 196
Recommended Problems
3D Resultants:
2/140 2/142 2/149 2/150
98
Equivalent System
F1
F2
r
R
CP
F3
r
R
r
CP
A
N1
N3
N2
P
C
force-couple System B
force-couple System A
In Statics Mechanics, we treat these two systems are equivalent if and only if
r
r
RSys1 RSys 2
r
r
M Sys1 M Sys 2 (for all point)
(in fact, just any one point is ok)
r r
R R
r
r
CP CP
(Pure Tendency to translate)

(Pure Tendency to rotate)
r
r
( i.e. M P M P )
(just one point, and can be any point)
Equivalent System
useful for
reducing any force-couple system
=> simplest resultant
- General (3D) Force System
- Concurrent Force System
- Parallel Force System
- Coplanar Force System (2D System)
101
General-3D Force Systems

simplest system
y
x
O
r
r
RSys1 RSys 2
r
MP
r
R
P
y
x
r
r
M Sys1 M Sys 2
(for any one point)
102
Concurrent Force Systems

r
F1
F2
F3
r
r
RSys1 RSys 2
(and no couple)
simplest system
r
R
r
r
M Sys1 M Sys 2
(for any one point)
No benefit to use,
because it is satisfied by default
(moment at O)
103
Coplanner System
F1
simplest system
x
F2
r
M1
F3
r
r
RSys1 RSys 2
r
R
for most case (99.9%)
r
r
M Sys1 M Sys 2
(for any one point)
(Moment at point O)
104
105
Equivalent System
Determine the
magnitude,
direction and
location on the
beam of a
resultant force
which is equivalent
to the system of
forces measured
from E.
106
Equivalent System
F
F
x ,sys II
y ,sys II
Fx ,sys I
Fy ,sys I
FR cos (500 N)cos 60 (100 N) 350 N

FR sin (500 N)sin 60 (200 N) 233.01 N
FR 420.47 N 420 N
107
Equivalent System
FR sin 233.01 N
tan
FR cos
350 N
33.653 33.7 33.7 CW
E ,sys II
Ans
ME ,sys I
FR sin (d ) (500 N)sin 60(4 m) (100 N)(0.5 m) (200 N)(2.5 m)

(233.01 N)(d ) 1182.25 N
d 5.0730 m 5.07 m
Ans
108
Equivalent System
Determine the magnitude and direction of a resultant

equivalent to the given force system and locate its point of
application P on the cover plate.
System I
System II
109
Equivalent System
v
v
v
v
FA 300k lb, rA 8i ft,

FB 200k lb, rB 8 j ft
v
v
FC 150k lb,
rC ( 8 sin 45i 8 cos 45 j) ft
v
v
Fsys II Fsys I
v
v v v
v
FR FA FB FC FR 650k lb
Ans
v
v
MO,sys II MO,sys I
v
v v v v v v
MRO rA FA rB FB rC FC
v
MRO (8i ft) ( 300k lb) ( 8 j ft) ( 200k lb)
v
MRO ( 8 sin 45i 8 cos 45 j ) ft ( 150 k lb)
v
MRO 2400 j 1600i 848.53i 848.53 j lb ft
v
MRO (751.47i 1551.5 j ) lb ft
(1)
110
Equivalent System
v
v v
MRO r FR ( xi yj) ft ( 650k lb)
v
MRO ( 650 yi 650 xj) lb ft
(2)
From (1) (2)
( 650 yi 650 xj) lb ft (751.47i 1551.5 j ) lb ft
Equating i and j components
1551.5 lb ft
x
2.3869 ft 2.39 ft
650 lb
751.47 lb ft
y
1.1561 ft 1.16 ft
650 lb
Ans
Ans
111
Equivalent System
Reduction 3D System to a Wrench #1
112
Equivalent System
Reduction 3D System to a Wrench #2
113

Chapter 2 Force 3D

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Chapter 2 Force 3D

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FORCE SYSTEMS

2-D Force Systems

3-D Force Systems

In 3D, forces (generally) are not in the same plane.

In many cases on 3D, d (the perpendicular distance) is hard to

Moment (Cross Product)

Moment About a Point #4

Resultant Moment of Forces

Varignons Theorem (Principal of Moment)

- Two or more concurrent forces

- for nonconcurrent forces see

moment Mo of the 600-N force about point O.

would require this result. M

rOA (0.05 0.13 sin 60 ) i

rOA 0.1626 i 0.205 j 0.15 k

Fxy 600cos 45o

Fx Fxy sin 600 600cos 45o sin 60o

0.1626 0.205 0.15

55.2 i 13.86 j 40.8 k

M O , x rz Fy 1.2 400 480

Example Hibbeler Ex 4-4 #1

Example Hibbeler Ex 4-4 #2

Example Hibbeler Ex 4-4 #3

Example Hibbeler Ex 4-4 #4

Moment about line

Finding moment of force about (arbitary) axis

Depend on line nly,

, , are the directional cosines of the unit vector n

where A, B are any points on the line

Finding moment of force about (arbitary) axis

Depend on line nly,

, , are the directional cosines of the unit vector n

Moment about line Definition)

How to find Moment about line ?

Moment about line

Moment about line

Point A is any point in the line

Moment about axis is sliding vector.

where A, B are any points on the line

Moment of Fr projected to line

Find M z of T (the moment of about z-axis

passing through the base O )

Figure must be shown

2/133 A 5N vertical force is applied to the knob of the window-opener mechanism

n AB ,1 cos 30i sin 30k

n AB (cos 30i sin 30k)

126.26 (cos 30o i sin 30o k)

Example Hibbeler Ex 4-8 #1

Determine the moments of this force about the x and a axes.

Example Hibbeler Ex 4-8 #2

Example Hibbeler Ex 4-9 #1

Determine the moment MAB produced by F = (600i + 200j 300k) N,

Vector r is directed from any

Example Hibbeler Ex 4-9 #2

Example Hibbeler Ex 4-9 #3

Vector r is directed from any point on the AB axis to any point on

Forces which interest or parallel with axis,

Couple is a summed moment

magnitude and direction

from any point on line of the action

Moment of a couple is the same about all point

Every point has the equivalent

- Couple tends to produce a pure rotation of the body about an