Chapter II b

Force Systems 3D

ADDIS ABABA UNIVERSITY Engineering Mechanics Department of

Faculty of Technology material by Karsten Schlesier Civil Engineering
 Lecture Overview
1.) - Rectangular Components

- Specifications of a Vector in Space

- Dot product, force components

2.) - Moment of a vector

- Force couples

- Resultant systems

ADDIS ABABA UNIVERSITY Engineering Mechanics Department of

Faculty of Technology material by Karsten Schlesier Civil Engineering
Rectangular Components
general correlations

fig by J.L. Meriam, L.G. Kraige, Engineering Mechanics I

ADDIS ABABA UNIVERSITY Engineering Mechanics Department of

Faculty of Technology material by Karsten Schlesier Civil Engineering
Rectangular Components
general correlations

fig by J.L. Meriam, L.G. Kraige, Engineering Mechanics I

ADDIS ABABA UNIVERSITY Engineering Mechanics Department of

Faculty of Technology material by Karsten Schlesier Civil Engineering
Rectangular Components
general correlations

fig by J.L. Meriam, L.G. Kraige, Engineering Mechanics I

ADDIS ABABA UNIVERSITY Engineering Mechanics Department of

Faculty of Technology material by Karsten Schlesier Civil Engineering
Specification by 2 point on the line of action
given: point A and B, magnitude F

fig by J.L. Meriam, L.G. Kraige, Engineering Mechanics I

ADDIS ABABA UNIVERSITY Engineering Mechanics Department of

Faculty of Technology material by Karsten Schlesier Civil Engineering
Specification by 2 point on the line of action
given: point A and B, magnitude F

(x 2 − x1 )
Fx = F
AB
(y 2 − y1 )
Fy = F
AB
(z − z ) fig by J.L. Meriam, L.G. Kraige, Engineering Mechanics I

Fz = F 2 1
AB

ADDIS ABABA UNIVERSITY Engineering Mechanics Department of

Faculty of Technology material by Karsten Schlesier Civil Engineering
Specification by 2 angles which orient the
line of action
given: angle θ and φ, magnitude F

fig by J.L. Meriam, L.G. Kraige, Engineering Mechanics I

ADDIS ABABA UNIVERSITY Engineering Mechanics Department of

Faculty of Technology material by Karsten Schlesier Civil Engineering
Specification by 2 angles which orient the
line of action
given: angle θ and φ, magnitude F

fig by J.L. Meriam, L.G. Kraige, Engineering Mechanics I

ADDIS ABABA UNIVERSITY Engineering Mechanics Department of

Faculty of Technology material by Karsten Schlesier Civil Engineering
solving a problem:

- find appropriate coordinate system

(convenience)

- choose the most convenient

representation of the given forces
concerning further operations
x
y
z

ADDIS ABABA UNIVERSITY Engineering Mechanics Department of

Faculty of Technology material by Karsten Schlesier Civil Engineering
Dot Product, force components
Projection of a force (component) in any
arbitrary direction.

fig by J.L. Meriam, L.G. Kraige, Engineering Mechanics I

ADDIS ABABA UNIVERSITY Engineering Mechanics Department of

Faculty of Technology material by Karsten Schlesier Civil Engineering
Recalling: Dot Product (scalar product)

Vectors A and B are θ inclined from each other

r r r r
A.B = A B cosθ = A B cosθ result = scalar
r r
A.B = a x b x + a y b y + a z b z

AB: projection of A in BA: projection of B in

direction of B direction of A
A A
cosθ·A cosθ·B
θ θ
B B

ADDIS ABABA UNIVERSITY Engineering Mechanics Department of

Faculty of Technology material by Karsten Schlesier Civil Engineering
 Dot Product, force components
given: vector F, n (any unit vector)
projection of F in direction of n:

magnitude of Fn
= dot product

vector Fn

α, β, γ = direction cosines of n

l, m, n = direction cosines of F

e.g.: component of F in x-direction (i):

= dot
product
fig by J.L. Meriam, L.G. Kraige, Engineering Mechanics I

ADDIS ABABA UNIVERSITY Engineering Mechanics Department of

Faculty of Technology material by Karsten Schlesier Civil Engineering
Dot Product, angle between any 2 vectors
given: vector P, Q

r r
P.Q = P Q cosα
r r
−1 P.Q
α = cos
PQ

fig by J.L. Meriam, L.G. Kraige, Engineering Mechanics I

rr
−1 P.n
α = cos concerning a unit vector n
P

ADDIS ABABA UNIVERSITY Engineering Mechanics Department of

Faculty of Technology material by Karsten Schlesier Civil Engineering
example 2.5 (from meriam textbook, s.p. 2/9)
A force F with a magnitude of 100 N is applied at the origin O of the axes
x-y-z as shown. The line of action of F passes through point A.
a) Determine the x, y and z components of F

fig by J.L. Meriam, L.G. Kraige, Engineering Mechanics I

ADDIS ABABA UNIVERSITY Engineering Mechanics Department of

Faculty of Technology material by Karsten Schlesier Civil Engineering
example 2.5 (from meriam textbook, s.p. 2/9)
A force F with a magnitude of 100 N is applied at the origin O of the axes
x-y-z as shown. The line of action of F passes through point A.
a) Determine the x, y and z components of F
r r r
F = F n OA = 100 n OA
r r r
r OA (3 i + 4 j + 5k )
n OA = =
OA 32 + 4 2 + 5 2
r 100 r r r
F= (3 i + 4 j + 5k)
50
r r r r
F = 42.4 i + 56.6 j + 70.7k N
Fx = 42.4 N Fy = 56.6 N Fz = 70.7 N
fig by J.L. Meriam, L.G. Kraige, Engineering Mechanics I

ADDIS ABABA UNIVERSITY Engineering Mechanics Department of

Faculty of Technology material by Karsten Schlesier Civil Engineering
example 2.5 (from meriam textbook, s.p. 2/9)
A force F with a magnitude of 100 N is applied at the origin O of the axes
x-y-z as shown. The line of action of F passes through point A.
b) Determine the projection Fxy of F on the x-y plane

fig by J.L. Meriam, L.G. Kraige, Engineering Mechanics I

ADDIS ABABA UNIVERSITY Engineering Mechanics Department of

Faculty of Technology material by Karsten Schlesier Civil Engineering
example 2.5 (from meriam textbook, s.p. 2/9)
A force F with a magnitude of 100 N is applied at the origin O of the axes
x-y-z as shown. The line of action of F passes through point A.
b) Determine the projection Fxy of F on the x-y plane

Fxy = F cos θ xy

32 + 4 2
cos θ xy = = 0.707
3 +4 +5
2 2 2

Fxy = 100 ⋅ 0.707 N = 70.7 N

fig by J.L. Meriam, L.G. Kraige, Engineering Mechanics I

ADDIS ABABA UNIVERSITY Engineering Mechanics Department of

Faculty of Technology material by Karsten Schlesier Civil Engineering
example 2.5 (from meriam textbook, s.p. 2/9)
A force F with a magnitude of 100 N is applied at the origin O of the axes
x-y-z as shown. The line of action of F passes through point A.
c) Determine the projection FOB of F along the line OB

fig by J.L. Meriam, L.G. Kraige, Engineering Mechanics I

ADDIS ABABA UNIVERSITY Engineering Mechanics Department of

Faculty of Technology material by Karsten Schlesier Civil Engineering
example 2.5 (from meriam textbook, s.p. 2/9)
A force F with a magnitude of 100 N is applied at the origin O of the axes
x-y-z as shown. The line of action of F passes through point A.
c) Determine the projection FOB of F along the line OB
rr r r r r
FOB = F.n OB F = 42.4 i + 56.6 j + 70.7k N
r r r
r OB ( 6 i + 6 j + 2k )
n OB = =
OB 62 + 62 + 22
r r r r
n OB = 0.668 i + 0.668 j + 0.229k
rr
FOB = F.n OB

fig by J.L. Meriam, L.G. Kraige, Engineering Mechanics I

ADDIS ABABA UNIVERSITY Engineering Mechanics Department of

Faculty of Technology material by Karsten Schlesier Civil Engineering
example 2.5 (from meriam textbook, s.p. 2/9)
A force F with a magnitude of 100 N is applied at the origin O of the axes
x-y-z as shown. The line of action of F passes through point A.
c) Determine the projection FOB of F along the line OB
rr r r r r
FOB = F.n OB F = 42.4 i + 56.6 j + 70.7k N
r r r
r OB ( 6 i + 6 j + 2k )
n OB = =
OB 62 + 62 + 22
r r r r
n OB = 0.668 i + 0.668 j + 0.229k

fig by J.L. Meriam, L.G. Kraige, Engineering Mechanics I

ADDIS ABABA UNIVERSITY Engineering Mechanics Department of

Faculty of Technology material by Karsten Schlesier Civil Engineering
 Lecture Overview
1.) - Rectangular Components

- Specifications of a Vector in Space

- Dot product

2.) - Moment of a vector

- Force couples

- Resultant systems

ADDIS ABABA UNIVERSITY Engineering Mechanics Department of

Faculty of Technology material by Karsten Schlesier Civil Engineering
Recalling: Moment - Cross Product (vector product)

Moment of a vector V about any point 0

r is a position vector from reference point 0 to any point on the

line of action of vector F.
r r r r r 0
M0 = r × F = F r sinθ ║r║·sinθ
r r r r
i j k θ
r F
M 0 = rx ry rz
Fx Fy Fz

ADDIS ABABA UNIVERSITY Engineering Mechanics Department of

Faculty of Technology material by Karsten Schlesier Civil Engineering
Moment of a vector 3D
given: rigid body, force F and line of action, any point O,
vector r
moment of Fn about point O

( )

determinant
form

fig by J.L. Meriam, L.G. Kraige, Engineering Mechanics I

ADDIS ABABA UNIVERSITY Engineering Mechanics Department of

Faculty of Technology material by Karsten Schlesier Civil Engineering
Moment of a vector – rectangular components

Recalling Varignon’s
Theorem:

fig by J.L. Meriam, L.G. Kraige, Engineering Mechanics I

ADDIS ABABA UNIVERSITY Engineering Mechanics Department of

Faculty of Technology material by Karsten Schlesier Civil Engineering
Moment about an arbitrary axis

cross product = M0 dot product

scalar result Mλ

fig by J.L. Meriam, L.G. Kraige, Engineering Mechanics I

ADDIS ABABA UNIVERSITY Engineering Mechanics Department of

Faculty of Technology material by Karsten Schlesier Civil Engineering
Moment – force couples 3D
given: force couple at distance d, point O

fig by J.L. Meriam, L.G. Kraige, Engineering Mechanics I

ADDIS ABABA UNIVERSITY Engineering Mechanics Department of

Faculty of Technology material by Karsten Schlesier Civil Engineering
Moment – force couples 3D

replacing a force by an equivalent force-couple system

fig by J.L. Meriam, L.G. Kraige, Engineering Mechanics I

ADDIS ABABA UNIVERSITY Engineering Mechanics Department of

Faculty of Technology material by Karsten Schlesier Civil Engineering
example 2.6 (from meriam textbook, s.p. 2/10)
A tension T of magnitude of 10 kN is applied to the cable attached to the
top A of the rigid mast and secured to the ground at B.
Determine the moment Mz of T about the z- axis.
Solution 1: finding z-component of MO
(by cross and dot product)

fig by J.L. Meriam, L.G. Kraige, Engineering Mechanics I

ADDIS ABABA UNIVERSITY Engineering Mechanics Department of

Faculty of Technology material by Karsten Schlesier Civil Engineering
example 2.6 (from meriam textbook, s.p. 2/10)
A tension T of magnitude of 10 kN is applied to the cable attached to the
top A of the rigid mast and secured to the ground at B.
Determine the moment Mz of T about the z- axis.
Solution 1: finding z-component of MO

cross product

dot product

fig by J.L. Meriam, L.G. Kraige, Engineering Mechanics I

ADDIS ABABA UNIVERSITY Engineering Mechanics Department of

Faculty of Technology material by Karsten Schlesier Civil Engineering
example 2.6 (from meriam textbook, s.p. 2/10)
A tension T of magnitude of 10 kN is applied to the cable attached to the
top A of the rigid mast and secured to the ground at B.
Determine the moment Mz of T about the z- axis.
Solution 2: finding Mz by Tx, Ty and Tz components

fig by J.L. Meriam, L.G. Kraige, Engineering Mechanics I

ADDIS ABABA UNIVERSITY Engineering Mechanics Department of

Faculty of Technology material by Karsten Schlesier Civil Engineering
example 2.6 (from meriam textbook, s.p. 2/10)
A tension T of magnitude of 10 kN is applied to the cable attached to the
top A of the rigid mast and secured to the ground at B.
Determine the moment Mz of T about the z- axis.
Solution 2: finding Mz by Tx, Ty and Tz components

Ty has no arm about the z-axis!

Tz can not cause a moment about the z-axis!

Tx = T cos θ x
cos θ x =

M z = Tx d x

fig by J.L. Meriam, L.G. Kraige, Engineering Mechanics I

ADDIS ABABA UNIVERSITY Engineering Mechanics Department of

Faculty of Technology material by Karsten Schlesier Civil Engineering
 Lecture Overview
1.) - Rectangular Components

- Specifications of a Vector in Space

- Dot product

2.) - Moment of a vector

- Force couples

- Resultant systems

ADDIS ABABA UNIVERSITY Engineering Mechanics Department of

Faculty of Technology material by Karsten Schlesier Civil Engineering
Resultants – 3D - moment as a vector

fig by J.L. Meriam, L.G. Kraige, Engineering Mechanics I

ADDIS ABABA UNIVERSITY Engineering Mechanics Department of

Faculty of Technology material by Karsten Schlesier Civil Engineering
Wrench Resultant

When the resultant couple vector M is parallel to the resultant

force R, the system is called a wrench.

example: screw driver fig by J.L. Meriam, L.G. Kraige, Engineering Mechanics I

ADDIS ABABA UNIVERSITY Engineering Mechanics Department of

Faculty of Technology material by Karsten Schlesier Civil Engineering
Wrench Resultant

A given force system can be represented by a wrench applied

along a unique line of action.

fig by J.L. Meriam, L.G. Kraige, Engineering Mechanics I

ADDIS ABABA UNIVERSITY Engineering Mechanics Department of

Faculty of Technology material by Karsten Schlesier Civil Engineering