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For Module - 1 (Part 1) PDF
For Module - 1 (Part 1) PDF
For Module - 1 (Part 1) PDF
STATICS
Ferdinand P. Beer
E. Russell Johnston, Jr. Rigid Bodies:
Lecture Notes:
Equivalent Systems
J. Walt Oler of Forces
Texas Tech University
Vector Mechanics for Engineers: Statics
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 and a
Varigon’s Theorem Couple
Rectangular Components of the Moment Sample Problem 3.6
of a Force System of Forces: Reduction to a Force and a
Sample Problem 3.1 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
Vector Mechanics for Engineers: Statics
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.
- moment of a force about a point
- moment of a force about an axis
- moment due to a couple
• 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 )
Vector Mechanics for Engineers: Statics
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
! ! !
i j k
= x y z
Fx Fy Fz
! ! !
( ) ( )
= yFz − zFy i + ( zFx − xFz ) j + xFy − yFx k
Vector Mechanics for Engineers: Statics
Rectangular Components of the Moment of a Force
! ! !
i j k
!
M B = (x A − xB ) ( y A − y B ) (z A − z B )
Fx Fy Fz
Vector Mechanics for Engineers: Statics
Rectangular Components of the Moment of a Force
For two-dimensional structures,
! !
(
M O = xFy − yFz k )
MO = M Z
= xFy − yFz
! !
[
M O = (x A − x B )Fy − ( y A − y B )Fz k ]
MO = M Z
= (x A − x B )Fy − ( y A − y B )Fz
Vector Mechanics for Engineers: Statics
Sample Problem 3.1
A 100-N vertical force is applied to the end of a
lever which is attached to a shaft at O.
Determine:
a) moment about O,
b) horizontal force at A which creates the same
moment,
c) smallest force at A which produces the same
moment,
d) location for a 240-N vertical force to produce
the same moment,
e) whether any of the forces from b, c, and d is
equivalent to the original force.
Vector Mechanics for Engineers: Statics
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.
M O = Fd
d = (24 m )cos 60° = 12 m M O = 1200 N ⋅ m
M O = (100 N )(12 cm )
Vector Mechanics for Engineers: Statics
Sample Problem 3.1
c) Horizontal force at A that produces the same
moment,
M O = Fd
1200 N ⋅ m = F (24 m )
1200 N ⋅ m F = 50 N
F=
24 m
Vector Mechanics for Engineers: Statics
Sample Problem 3.1
M O = Fd
1200 N ⋅ m = (240 N )d
1200 N ⋅ m
d= = 5 cm
240 N
OB = 10 m
OB cos60 ° = 5 cm
Vector Mechanics for Engineers: Statics
Sample Problem 3.1
SOLUTION:
The moment MA of the force F exerted
by the wire is obtained by evaluating
the vector product,
! ! !
M A = rC A × F
• Scalar products:
! ! ! !
- are commutative, P•Q = Q• P
! ! ! ! ! ! !
- are distributive, P • (Q1 + Q2 ) = P • Q1 + P • Q2
! ! !
- are not associative, (P • Q)• S = undefined
• Scalar products with Cartesian unit components,
! ! ! ! ! ! ! !
( )(
P • Q = Px i + Py j + Pz k • Qx i + Q y 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
Vector Mechanics for Engineers: Statics
Scalar Product of Two Vectors: Applications
• Angle between two vectors:
! !
P • Q = PQ cos θ = Px Qx + Py Q y + Pz Qz
Px Qx + Py Q y + Pz Qz
cos θ =
PQ
M AB = aP 2
Vector Mechanics for Engineers: Statics
Sample Problem 3.5
• Moment of P about the diagonal AG,
! !
M AG = λ • M A
! ! ! !
! rA G ai − aj − ak 1 ! ! !
λ=
rA G
=
a 3
=
3
(i − j −k)
! aP ! ! !
MA =
2
(i + j +k)
1 ! ! ! aP ! ! !
M AG =
3
( i − j − k )•
2
(i + j +k)
aP
= (1 − 1 − 1)
6
aP
M AG = −
6
Vector Mechanics for Engineers: Statics
Sample Problem 3.5
• Perpendicular distance between AG and FC,
! ! P ! ! 1 ! ! ! P
P•λ =
2
( j − k )•
3
(i − j − k )=
6
(0 − 1 + 1)
=0
Therefore, P is perpendicular to AG.
aP
M AG = = Pd
6
a
d=
6
Vector Mechanics for Engineers: Statics
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.
• F1d1 = F2 d 2
• By Varigon’s theorem
! ! ! ! !
M = r × F1 + r × F2
! !
= M1 + M 2
! ! ! !
M = M D = (18 m) j × (− 30 N )k
! ! !
[ ]
+ (9 m) j − (12 m)k × (− 20 N )i
! ! !
M = −(540 N ⋅ m)i + (240N ⋅ m) j
!
+ (180 N ⋅ m)k
Vector Mechanics for Engineers: Statics
System of Forces: Reduction to a Force and Couple
SOLUTION:
a) Compute the resultant force for the
forces shown and the resultant
couple for the moments of the
forces about A.
!R ! ! !
M A = 30 i + 17.68 j + 118.9k