Lecture

 5  

9/14/14   1  
Illustration:

F A

F O

A
M

Move F from point A to O

3-2
 Can  you  think  of  an  equivalent  system?  

 MO 
F F
 O   
O    −F F
 F  O  
rA O rA O
A   A  
A     
M O = rA O x F

Any   force   F     ac4ng   on   a   rigid   body   may   be  

moved  to  an  arbitrary  point  O,  provided  that  a  
couple   is   added,   of   moment   equal   to   the  
moment  of  F  about  O  (Mo  =  rA/O  x  F  ).  
3  
 Equivalent  force  systems  
“same  external  effect”  
Acting force Equivalent force – couple
system system
- 4N j
- 4N j
1m i - 4Nm k

When  you  transfer  the  loca4on  of  a  force,  a  couple  is  

added   to   preserve   the   effect   of   that   force   on   the  
object’s  tendency  to  rotate.  
4  
 Force F can be replaced by an
equivalent force-couple system at
MO pt. O which imparts the same
external effect on the rigid body
(wrench and bolt).

F
F

3-5
  
  Mo
Mo
F F
 O = O O

O 
O = rO B FB F
A   B
A   B   A A  
B  
 B 
− FB MB
   
M B = M O + rO B xF ( )
When   you   transfer   the   loca4on   of   a   force-­‐
couple  system,  a  couple  is  added  (r  –  from  point  
of   transfer   to   original   loca4on   crossed   with   F   )  
to  the  given  couple.  
6  
Can  we  reduce  a  system  of  forces  to  a  single  force-­‐couple  
F
 system?  
 
 2
F1 M2
F1 B   
B    R
 F2
 O   rB O
rA O O  
  O  
A   rC O A    M OR
 F3
C    M1
F3
C   
M3

 
R=
∑ F
         
M OR = ∑ MO = ∑ (r x F ) = (r
i i AO ) ( ) (
x F1 + rB O x F2 + rC O x F3 )
7  
 SOLUTION:
• Determine the relative position vectors
for the points of application of the
cable forces with respect to A.

• Resolve the forces into rectangular

components.

• Compute the equivalent force,

 
R = ∑F
Three cables are attached to the • Compute the equivalent couple,
bracket as shown. Replace the R  
forces with an equivalent force- M A = ∑ (r × F )
couple system at A.

3-8
 SOLUTION:
• Determine the relative position
vectors with respect to A.
  
rB A = 0.075 i + 0.050k (m )
  
rC A = 0.075 i − 0.050k (m )
  
rD A = 0.100 i − 0.100 j (m )

3-9
 • Resolve the forces into rectangular
components.
 
FB = (700 N )λ
   
 rE B 75 i − 150 j + 50k
λ= =
rE B 175
  
= 0.429 i − 0.857 j + 0.289k
   
FB = 300 i − 600 j + 200k (N )
  
(
FC = (1000 N ) cos 45 i − cos 45k

)

= 707 i − 707k (N )
  
FD = (1200 N )(cos 60 i + cos 30 j )
 
= 600 i + 1039 j (N )

3 - 10
     • Compute the equivalent couple,
FB = 300 i − 600 j + 200k (N ) R  
   M A = ∑ (r × F )
FC = 707 i − 707k (N )   
   i j k
FD = 600 i + 1039 j (N )    
  rB A ×F B = 0.075 0 0.050 = 30i − 45k

rB A = 0.075 i + 0.050k (m ) 300 − 600 200
   
rC A = 0.075 i − 0.050k (m )  
i j k
     
rD A = 0.100 i − 0.100 j (m ) rC A ×F c = 0.075 0 − 0.050 = 17.68 j
• Compute 707 0 − 707
  the equivalent force, 
R = ∑F  
 i j k
= (300 + 707 + 600) i   
 rD A ×F D = 0.100 − 0.100 0 = 163.9k
+ (− 600 + 1039) j 600 1039 0

+ (200 − 707 )k
R   
    M A = 30 i + 17.68 j + 118.9k
R = 1607i + 439 j − 507k (N )
3 - 11
    
R = 1607i + 439 j − 507k (N )
R   
M A = 30 i + 17.68 j + 118.9k

3 - 12
A  force  system  is  given  by  the  ff.     Represent the above
 force system by a
FA = −10 iˆ + 10 ˆj − 15kˆ (kN )
 force R acting at P
F = 30 iˆ + 5 ˆj + 10kˆ (kN )
B and a couple M.

M C = −90 iˆ + 150 ˆj + 60kˆ (kN ⋅ m)
z  

MC

 y  

FB FA
P(4, 3, -2)m  
x   (6, 0, 0)m  
13  
  
( )(
RP = FA + FB = − 10 iˆ + 10 ˆj − 15kˆ + 30 iˆ + 5 ˆj + 10kˆ

)
RP = 20 iˆ + 15 ˆj − 5kˆ (kN )
     
( )(
M P = M C + rB P x FB + rA P x FA )
( ) [( )(
= − 90 iˆ + 150 ˆj + 60kˆ + − 2 iˆ − 3 ˆj + 2kˆ x 30 iˆ + 5 ˆj + 10kˆ )]
[( )( )]
+ − 4 iˆ − 3 ˆj + 2kˆ x − 10 iˆ + 10 ˆj − 15kˆ
iˆ ˆj kˆ iˆ ˆj kˆ
( )
= − 90 iˆ + 150 ˆj + 60kˆ + − 2 − 3 2 + −4 −3 2
30 5 10 − 10 10 − 15

M P = −105 iˆ + 110 ˆj + 90kˆ (kN ⋅ m)
14  
 z  

y  

P  
MP

x   
 R
RP = 20 iˆ + 15 ˆj − 5kˆ (kN )


M P = −105 iˆ + 110 ˆj + 90kˆ (kN ⋅ m)

15  
Two  systems  of  forces  are  equivalent,  if  they  may  be  
reduced  to  the  same  force-­‐couple  system  at  a  given  point  
O.     
 F2 '
 F2 
F1 B
R
O D
O
 O
A  M OR E
F
F3 
C
F1 ' 
F3 '

16  
 
 F2 '
 F2 
F1 B
R
O O D
 O
A  M OR F E
C
F3 

F1 '
F3 '
Two   systems   of   forces   are   equivalent   if   and   only   if,   the  
sums  of  the  forces  and  the  sums  of  the  moments  about  a  
given   point   O   of   the   forces   of   the   two   systems   are  
respec4vely  equal.    
   
∑ Fi = ∑ Fi ' ∑MO = ∑MO' 17  
  In  rectangular  
 F2 ' components,    
 F2
F1 B ∑ F =∑ F
X X '
O D
O

∑ F =∑ F
Y Y '
A E
F
F3 
C
F1 '  ∑ F =∑ F
Z Z '
F3 '
Two   systems   are   equivalent   if   they   tend   ∑M X = ∑M X '
to  impart  to  the  rigid  body  (1)  the  same  
transla4on   in   the   x,   y,   and   z   direc4ons,  
∑M Y = ∑M Y '

and  (2)  the  same  rota4on  about  the  x,  y,   ∑M Z =∑M Z '
18  
and  z  axes,  respec4vely.    
Three  systems  of   y   SYSTEM 1  

forces  &  moments  act   50N  

x  
on  a  beam.  Are  they   O  

equivalent?     1.0m  

y   SYSTEM 2   y   SYSTEM 3  
50N   50N  
50 N.m   x  
x   O  
O  
50 N.m  
0.5m   0.5m   1.0m  

19  
Are  the  sum  of  the  forces  equal?    
  
(∑F )1
= 50 ˆj (N ) (∑ ) F 2
= 50 ˆj (N ) (∑ )
F 3
= 50 ˆj (N )

Are  the  sums  of  the  moments  about  an  arbitrary  point  
equal?  The  sum  of  the  moments  about  the  origin  O,    

(∑ ) = 0
MO 1

(∑ M ) = (0.5 iˆ x 50 ˆj )− 50kˆ = −25kˆ (N ⋅ m)
O 2

(∑ M ) = (1.0 iˆ x 50 ˆj )− 50kˆ = 0
O 2

è  System  1  and  3  are  equivalent.    

20  
Two  systems  of  forces  and  moments  are  given:    
 
FA = −10 iˆ + 10 ˆj − 15kˆ (kN ) FC == 10 iˆ − 5 ˆj + 5kˆ (kN )
 
FB = 30 iˆ + 5 ˆj + 10kˆ (kN ) FD = 10 iˆ + 20 ˆj − 10kˆ (kN )

M = −90 iˆ + 150 ˆj + 60kˆ (kN ⋅ m)
Are  they  equivalent?    
z   z  
 
FB FC

FA y   y  

M (6, 3, 3)m  

(6, 0, 0)m  
x   x   FD
21  
SYSTEM 1   SYSTEM 2  
22  

Summing  forces,  
  
( ) F
∑ 1 = F A + FB = 20 ˆ + 15 ˆj − 5kˆ (kN )
i
  
( )∑ F 2 = FC + FD = 20 iˆ + 15 ˆj − 5kˆ (kN )
Sum  of  the  moments  abt.  the  origin  O  in  System  1  is,  
iˆ ˆj kˆ
  
(∑MO ) (
1
ˆ ) (
= 6 i x FB + M = 6 0 0 + − 90 iˆ + 150 ˆj + 60kˆ )
30 5 10

(∑MO ) = −90 iˆ + 90 ˆj + 90kˆ (kN ⋅ m)
1
23  

Sum   of   the   moments   abt.   the   origin   O   in  

System  2,  
iˆ ˆj kˆ
 
(
∑MO ) ( 2
ˆ )
= 6 iˆ + 3 ˆj + 3k x FD = 6 3 3
10 20 − 10

(
∑MO )2
= −90 iˆ + 90 ˆj + 90kˆ (kN ⋅ m)

è  The  systems  are  equivalent.    

Two  systems  of  forces  and  moments  act  on  the  
rectangular  plate.  Are  they  equivalent?    
y   y  
10N   10N  
25 Nm  
P   P   15N  

5m   5m  
O   8m   x   O   8m   x  
20N   15N   20N  
20 Nm  
SYSTEM 1   SYSTEM 2  

24  
 y  

Summing  forces,   10N   10N  

P  

(∑ )F 1 = 20 iˆ + 10 ˆj − 10 ˆj = 20 iˆ (N ) 5m  
 O  
(∑ F ) = −15 iˆ + 15iˆ + 20 iˆ = 20 iˆ (N )
2
8m   x  
20N  
20 Nm  
Summing  moments  about  O,     y  
SYSTEM 1  


(∑ )
MO 1
= −10 N (8m ) − 20 Nm = −100 N ⋅ m 25 Nm  
P   15N  

(
∑MO) 2
= −25 Nm − 15 N (5m ) = −100 N ⋅ m
5m  

O   8m   x  
è  The  systems  are  equivalent.     15N   20N  
25  
SYSTEM 2  
 Types  of  force  systems  
y
y

x x

z
Concurrent  Force  System   Parallel  Force  System  

y
y

x
x

Coplanar  Force  System   General  Force  System  

27  
 Types  of  force  systems  
y Except   for   the   concurrent   force   system,  
forces  can’t  be  instantly  added.    Why?  
Because   their   LOAs   don’t   have   A   common  
x
point  of  intersecIon.  

z
Concurrent  Force  System  

y y y

x x
x

Coplanar  Force   Parallel  Force   General  Force  

System   System   System   28  
Any   given   system   of   forces   ac4ng   on   a   rigid   body  
can   be   reduced   to   an   equivalent   force-­‐couple  
system   at   O   consis4ng   of   a   force   R   equal   to   the  
sum   of   the   forces   of   the   system   and   a   couple  
vector   MOR   of   moment   equal   to   the   moment  
resultant  of  the  system.    
ØWhen R = 0, the resultant is a couple if ΣM ≠ 0.
CR = ΣMany point

ØWhen R = 0 & ΣM = 0, the system is in equilibrium.

29  
 ➔ If  the  resultant  force  and  couple  at  O  are  mutually  
perpendicular,  they  can  be  replaced  by  a  single  force  ac4ng  
along  a  new  line  of  ac4on.  
➔ 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.  
y y
y

x x
x

z
Concurrent  Force  System   Coplanar  Force  System   Parallel  Force  System  
3 - 30
qConcurrent   forces.   The   LOA   of   the   resultant  
(which   is   just   a   force)   will   also   intersect/originate  
at  the  point  of  concurrency  of  the  forces.  
y y

x x

z z
.

Concurrent  Force  System   31  

qCoplanar   forces   act   in   the   same   plane,   which  
may  be  assumed  to  be  the  plane  of  the  figure.    
The   sum   R   of   the   forces   of   the   system   will   also   lie   on  
the   plane   of   the   figure,   while   the   moment   resultant  
MOR    will  be  perpendicular  to  that  plane.    
y

. x

Coplanar  Force  System  

Therefore,  the  force-­‐couple  system  at  O  (force  &  couple  
vector   are   perpendicular)   can   be   reduced   to   a   single  
force  R.    

 F2  
F1 B   R R
O   O  
O   
 M OR
A    M OR d= 
C   F3 R

33  
Two  forces  are  ac4ng  on  a  pipe.  Represent  the  system  
by   (a)   a   single   force   ac4ng   at   the   origin   O   of   the  
coordinate  system  and  a  single  couple  and  (b)  a  single  
force.    
y  
30 ĵ(kN )
20 iˆ + 20 ˆj(kN )
210kˆ(kN ⋅ m)
x  
O  

3m   2m  

34  
 
(a)     R = 30 ˆj + 20 iˆ + 20 ˆj = 20 iˆ + 50 ˆj (kN )

) [ ( )]
M O = 3 iˆ x 30 ˆj + 5 iˆ x 20 iˆ + 20 ˆj + 210kˆ
(
= 90 kˆ + 100kˆ + 210kˆ
= 400kˆ (kN ⋅ m )
y  

R = 20iˆ + 50 ˆj(kN )

O  
M = 400kˆ(kN ⋅ m) x  

35  
(b)  To  locate  the  posiIon  of  R    
y   

R = 20iˆ + 50 ˆj(kN ) R


M = 400kˆ(kN ⋅ m) O’   x  
O  

d  

  −R

M O + rO O ' x R = 0 y  

R = 20iˆ + 50 ˆj(kN )
[ (
400kˆ + − d iˆ x 20 iˆ + 50 ˆj = 0 )] O’   x  
− 50d kˆ = −400kˆ O

d  
d = 8.0 m 36  
q Parallel  forces  have  parallel  lines  of  ac4on  and  
may  or  may  not  have  the  same  sense.  
z  
z   
 R
 
  F3 F
F1 F 4 M YR
2
  y  
M XR O  
O   y   M OR


x   M OR
‘LOA’ of  
x    
R= ∑ F RZ = ∑F Z

   
M XR = ∑ MX M YR = ∑ MY
37  
 Parallel  forces  
z   
z   Plane ⊥ to
  ‘LOA’ of  
R
R R d  
d  
O   A (x,y,0)  
O   y   y  


−R
x  
x  
The   reduc4on   of   the   system   to   a   single   force   can   be  
carried   out   by   moving   R   to   a   new   point   of   applica4on  
A(x,y,0)   chosen   so   that   the   moment   of   R     about   O   is  
equal  to  MOR.  
M OR = Rd M OR = R⎛⎜ x 2 + y 2 ⎞⎟
⎝ ⎠ 38  
Parallel  forces  (Alt.)  
 
R= ∑ F
z   z  

 
 F3 F

F1 F2
4 R

O   y   O   y
xR  
yR  
x   x  
 
∑ M X = M XR è    yR    
 
∑ M Y = M YR è    xR    

39  
Represent  the  given  parallel  forces  by  a  single  
force.  Where  does  its  LOA  intersect  the  xy-­‐
plane?     z  
z  
20k̂ (N ) 
30k̂ (N ) R = 40kˆ(N )
(2,0,4)m  
O   y  
O  
(-3,0,-2)m   y   
r x  
(6,0,2)m   − 10k̂ (N ) y  
x  
x    
R = ∑ F = 30kˆ + 20kˆ − 10kˆ = 40kˆ (N )

40  
 z  
z  
20k̂ (N ) 
30k̂ (N ) R = 40kˆ(N )
(2,0,4)m  
O   y  
(-3,0,-2)m   y  
O   
r x  
(6,0,2)m   − 10k̂ (N )
y  
x  
 
x   
r xR= ∑ MO

iˆ ˆj kˆ iˆ ˆj kˆ iˆ ˆj kˆ iˆ ˆj kˆ
x y 0 = −3 0 −2 + 2 0 4 + 6 0 2 = 40 y iˆ − 40 xˆj = 60 ˆj + 20 ˆj − 180 ˆj
0 0 40 0 0 20 0 0 − 10 0 0 30

40 y iˆ − 40xˆj = 100 ˆj y=0 x = 2.5 m 41  

 z  

R = 40kˆ(N )

y  

(2.5,0,0)m  
x  

42  
 Force F at point A Force F and couple MO at point O

F
Any force F acting on a rigid 
body can be moved to an arbitrary  
MO = r × F
point O provided that a couple is
added whose moment is equal to force-couple system.
the moment of F about O.

3 - 43
 • 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 = ∑F M O = ∑ (r × F )
(in practice, reduction is expressed in terms of rectangular components)
3 - 44
 System  1   MRO System  2  

= O
=
Equivalent Force Systems
  Yields  6  scalar  equa4ons  
( ) ( )
∑F 1 = ∑F 2 and
  corresponding  to  each  
( ) (
∑ MO 1 = ∑ MO 2 ) rectangular  components  

Physically  means:  
(1)  same  transla4on  in  the  x,  y,  and  z  direc4ons,    and  
(2)  same  rota4on  about  the  x,  y,  and  z  axes  
3 - 45
 • System of coplanar forces
 isreduced to a
force-couple system R and M OR that is
mutually perpendicular.

• Reduce to a single force by moving the

line of action of R until
 R its moment
about O becomes M O

3 - 46