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Statics (No Acceleration)
Statics (No Acceleration)
F = Fxi + Fy j + Fz k
OR
F = Fx i + Fy j + Fz k
Where do forces come from?
Contact with another object
Gravity
Attractive of repulsive forces
Moments are vectors. (Moment is another word for torque.)
Forces at a distance from a point
Couple
EX:
2D:
FB = FBxi + FBy j
rAB
= rABxi + rABy j
MA = rAB
FB
=
=
=
OR
| FB sin using Right Hand Rule
MA = |rAB
3D:
= rABxi + rABy j + rABz k
rAB
FB = FBxi + FBy j + FBz k
FB = (rABx FBy rABy FBx )k+(rABz FBx rABx FBz )j+(rABy FBz rABz FBy )i
MA = rAB
EX: Wrench
= dj
rAB
FB = FBi
MA = rAB
FB = dj FBi = dFB k
F = 0
4
F = 0
i=1
o = 0
M
...
MA = 0
(rA0 + r01 ) F1 + (rA0 + r02 ) F2 + (rA0 + r03 ) F3 + (rA0 + r04 ) F4 = 0
rA0 (F1 + F2 + F3 + F4 ) + (r0 1 F1 + r0 2 F2 + r0 3 F3 + r0 4 F4 ) = 0
rA0 (F1 + F2 + F3 + F4 ) = 0
F = 0
(r0 1 F1 + r0 2 F2 + r0 3 F3 + r0 4 F4 ) = 0
0 = 0
M
So taking moment about a new point gives no additional info.