Chapter1 - COLYTHUYET

GOAL OF THE CHAPTER
*Understand and identify types of force and couple force.
* Find the resultant of a force system.
*Calculate the moment of a force about a point and the moment of a

force about a axis
* Moving a force on its line of action and moving a force off of its line
of action
* Simplification of force system

I. The fundamental concepts
1.1. Rigid body:
1.2. Static equilibrium:

1.3. Forces:
- Point of application
- Direction
- Magnitude

Symbol: F
Unit: N or lb; 1 N = 1 kg .m / s 2
I. Fundamentals concepts
1.3. Forces: In Cartesian coordinate system:

z i, j, k: cartesian unit vectors
k
j
i O y
F = Fx i + Fy j + Fz k
Fx, Fy, Fz: components of force vector
F= Fx 2 + Fy 2 + Fz 2
I.2 Fundamentals concepts
I. Fundamentals concepts
1.3. Forces:
Fx= F ⋅ cos θ
Fy= F ⋅ sin θ
a
Fx= F ⋅
c
b
Fy= F ⋅
c
1.3.1. Classification of Force
∗ Concentrated forces
∗ Distributed loads
+ Linear distributed load
q
P
q = mg / L = d ⋅ g ⋅ A
A B
L
q: magnitude of distributed load.

Units: N/m or lb/ft.
+ Surface force
With p : magnitude
Units: N/m2.
+ Body force
γ: magnitude
Units: N/m3.
* Evaluent resultant force
q( z)
Magnitude of resultant force 
Q
Q ∫ q ( z )=
= .dz ∫=
dA A A
L A
z
Location of resultant force
z
∫ zq ( z ) .dz ∫ zdA L
=z L= L
∫ q ( z ) .dz ∫ dA
L L
Reviews:
Magnitude of resultant force is equivalent to the area under the
distributed loading curve
Location of resultant force through the centroid C or geometric
center of this area
+ Special case
Uniform distributed load ( q = const)
= q ( z ) .dz q0 L
Q ∫=
L
q0 Q = q0 L
L z =L/2
Q = 6kN
+ Special case
Triangular distributed load
q0 L
=Q ∫=q ( z ) .dz
L 2
q0 L
q0 Q=
2
L z = 2L / 3
q ( z ) = 160 z
Example: Determine the magnitude and location of the equivalent

resultant force.
q0
600 N / m
500N
0,5m 1m

resultant force.

resultant force.
q= q0 + kz 2 q = k2 z 2
8kN / m
2m
q0
1.3.2. System of forces

A force system is a collection of forces acting at specified locations
  
(F1 , F2 ,...Fn )

( )
Fk , k = 1, n
1.3.3. Equivalent force systems

Two force systems are equivalent if they result in the same resultant force
and the same resultant moment
     
( F1 , F2 ,..., Fn ) ~ ( f1 , f 2 ,..., f n )
1.3.4. Resultant of force system:
F3
F2    
R ( F1 , F2 ,..., Fn ) ~ R
Fn
F1
1.3.5. Equilibrium of force system

   
( F1 , F2 ,..., Fn ) ~ 0
I.2 The fundamental concepts
1.3.6. Parallelogram of force

F1 
F
O α
F2
Problems: Determine the components of forces F for the axis x, y and z
y
Problems: Determine the components of force F for the axis x, y and z
F z
3a
O 2a
x a F
2a
y O
x a 3a
y
6cm
F = 50N
z
20cm
F
O 3a
x
10cm 10 3cm
y O
x a 2a
y
Problems: Determine the resultant of system of forces
II.
3 The moment of a force
2.1 . Moment of a force about a point – scalar formulation

The moment of a force about a point is the tendency of a force to make
a body rotate about a point.
 
MO F( ) Units: N.m or lb.ft
II. The moment of a force
Direction: + Moment axis perpendicular to the

plane that contains the force F and its moment
arm d
+ The right-hand rule is used to
establish the sense of direction of MO
Magnitude: M O ( F ) = ± Fd
+ Plus if counterclockwise rotation

+ Minus if clockwise rotation F
Attention: Moment of a force about a point MO= 0
when direction of force through O
MO (F) = 0
Resultant moment:
M O ( ∑ Fk ) = ∑ mO ( Fk ) = F1d1 − F2 d 2 + F3 d3
II.
2.1 . Moment of a force about a point – vector formulation

 Fx  z
  A

- Force vector: D
F =  Fy  F
F  B
 z C
x
 
- Position vector: r =  y O D'
y
 
z 
B'
C'
- Moment of force F about point O:
i j k
m O ( F ) =r × F = x y z =( yFz − zFy ) i + ( zFx − xFz ) j + ( xFy − yFx ) k
Fx Fy Fz
II.
Determine moment of forces about points A.
Fy 1. Scalar formulation
Fx  Fx = F cos300
 0
 Fy = F sin 30

mA ( )
−80.cos 300.45 − 80.sin 300.12
F =
≈ −3597, 69 N .cm
II.
2. Vector formulation
Fy r= [ −12 45]
T
Fx 0 T
F = 80cos30 0
80sin 30 

r
 −12 45
mA ( F ) =
80cos300 80sin 300
= −80.cos300.45 − 80.sin 300.12
≈ −3597,69 N .cm
Example: Determine moment of forces about points A, B, C
F1 F2 F3
A B
a 2a C
mA ( Fi ) = F1 ⋅ 0 + F2 ⋅ a + F3 ⋅ 3a
mB ( Fi ) =− F1 ⋅ a + F2 ⋅ 0 + F3 ⋅ 2a
mC ( Fi ) =− F1 ⋅ 3a − F2 ⋅ 2a + F3 ⋅ 0 42
Example: Determine moment of forces about points A, B, C
4kN 3kN 2kN

300
mA ( Fi ) = 3 ⋅1 + ( 2 ⋅ cos 60 ) ⋅ 3
A B C
1m 2m mB ( Fi ) =−4 ⋅1 + ( 2 ⋅ cos 60 ) ⋅ 2
mC ( Fi ) =−4 ⋅ 3 − 3 ⋅ 2
2 ⋅ cos 60
4kN 3kN
2 ⋅ cos 30
B
43
A 1m 2m C
Example: Determine moment of forces about points A
z
A′ B′ i j k
F2
m A ( F1 ) = rB × F1 = 0 a 0 = ( a ⋅ F1 ) ⋅ i
D′ C′ 0 0 F1
F1
A B y i j k
m A ( F2 ) = rB′ × F2 = 0 a a =
F2 0 0
D C
x =( a ⋅ F2 ) ⋅ j − ( a ⋅ F2 ) ⋅ k
Problems: Determine moment of force F about point O
2m
400
F = 600N
4m
O
F = 250N
150
200mm
30mm
O
F = 30N
F = 100N
A 150
1,6m
350mm
300
650
1,6m
O
30mm O
F
O
300 F = 250N
r = 25cm
A
30cm
O
150cm
1,5m 750
300 F = 2kN
1m
O
O
F = 50N
F z
3a
O 2a
x a F
2a
y O
x a 3a
y
F = 15kN
Problems: Determine moment of force F =200 N about point O
Problems: Determine moment of force F=50N about point O
Problems: Determine moment of system of forces about point A
Problems: Determine moment of system of forces about point G
Problems: Determine moment of system of forces about point O
II.
2.2 . Moment of a force about an axis– vector formulation

z
Moment of a force about a point O: mz F

mO
d  A
r r
O my y
x mx

F
We have:
m O ( F ) = mx i + m y j + mz k
2.2 . Moment of a force about an axis– vector formulation
( yFz − zFy ) i + ( zFx − xFz ) j + ( xFy − yFx ) k

mO ( F ) =
=
F
m O ( F ) = mx i + m y j + mz k
Fz
- Moment of a force about axis x, y, z: z
mx ( =
F ) yFz − zFy mz
Fx
my ( F
= ) zFx − xFz rA A Fy
zA y
m y (=
F ) xFy − yFx
xA yA my
O
mx
x
II.

2.2 . Moment of a force about an axis– scalar formulation F
(∆ ) 
  ()
m∆ F

m∆ ( ) ( )
F = mO F ' = ±d.F ' A 
 r F'
F1 d
a O
b
c
z   
( ) ( ) ( )
m y F1 = mz F1 = mz F2 = 0
 x
F2
* Attention: Moment of a force about axis M∆ = 0 when direction of a
force parallel or shear this axis
Example: Given F as shown in Figure 2. Determine moment of force F about

point O (form of vector), determine moment of force F about the axises and
calculate the magnitude of force F about point O.
1. Vector method
  
i j k
 
( )
mO F = 3 2 0
0 10.cos 300 10.sin 300
  
(
= 10i − 15 j + 15 3k kN .m )

( )
⇒ mx F = 10kN .m;

( )
m y F = −15kN .m;

( )
mz F = 15 3kN .m

mO ( )
F = 102 + 152 + (15 3) 2 = 10 10 ≈ 31, 62kN .m
II.

point O (form of vector), determine moment of force F about the axis and
2. Scalar method
= Fy F=cos300 10 3 / 2

=  Fz F=sin 300 5


( )
 mx =F F=z .2 10kN .m;
 
( )
 m y F = Fz .3 = −15kN .m;
 
( )
mz =F F=y .3 15 3kN .m
II.

point O (form of vector), determine moment of force F about the axis and
1. Vector method
  
i j k
      
mO ( F ) =0 b c  =0i − cFj + bFk
− F 0 0 

mx ( F ) ==
0; m y ( F ) −cF ; mz ( F ) =
bF
 
mO ( F=
) c2 + b2 F
2. Scalar method
mx ( F ) ==
0; m y ( F ) −cF ; mz ( F ) =
bF
Example: Determine moment of forces about axis x, y, z
F = 50N
F z
3a
O 2a
x a F
2a
y O
x a 3a
y
6cm
F = 15kN
2.3 . Couple
A couple is defined as two parallel forces that have the same

magnitude, but opposite directions, and are separated by a perpendicular
distance d.
Example: Determine moment of forces about points A, B, C and D
M = 2kN.m F = 5kN
A B C D
2m 2m 2m
F = 15kN
M = 3kN.m
A B C
1m 3m
Example: Determine moment of forces about points A, B, C and D
M = 2kN.m F = 5kN
D
A B
1,5m
2m 1m
Example: Determine moment of forces about point O
Problem: Determine the magnitude of couple M in order to moment
of force system about point O equal zero
III.
7 Moving a force
3.1 Moving a force on its line of action (Trượt lực)
O1 
F 
O2 F
(∆ )
Moving a force from A to B, when both points are on the vector’s line of action,
does not change the external effect.
Tác dụng của lực lên vật rắn tuyệt đối không bị thay đổi nếu ta
trượt lực dọc theo đường tác dụng của nó.
III.
7 Moving a force
3.2 Moving a force off of its line of action (Dời lực)


F
l 
M
A B
  
M = mB (F)
Dời lực song song từ điểm A đến điểm B ta được một lực bằng
chính nó và một ngẫu lực bằng với mômen của lực lấy đối với điểm
dời tới.
IV. Simplification of a force system
 Resultant force – resultant couple of the system
95
R ˗ resultant force of the system

MO ˗ resultant couple moment
4.1. For coplanar (x-y plane):

F2 M 2 = F2 d 2
M 1 = F1d1
F1
O d2 R
d1
O MO
d3
F3 O
F2
F1 F3 M 3 = F3 d3
 Rx = ∑ Fkx = F1x + F2 x + F3 x

R = ∑ Fk = F1 + F2 + F3 
 Ry = ∑ Fky = F1 y + F2 y + F3 y

96
∑ mO ( Fk ) =
MO = −M1 − M 2 + M 3
Example. Replace the force and couple system by an equivalent

resultant force and couple moment acting at point A.
4
F3 = 300 N F3 ⋅ N
5
y
3
F3 ⋅ N
5
4m
4m
x
F2 = 200 N
3m F2 = 200 N
3m 3m 3m
F1 = 100 N F1 = 100 N
Solution:
R = ∑ Fk = F1 + F2 + F3 97
M O = ∑ M O ( Fk ) = M O ( F1 ) + M O ( F2 ) + M O ( F3 )
Solution:
Resultant force of the system
3
Rx =∑ Fkx =− F2 + F3 ⋅ 5 =−20 N
R Ry
4 MA
Ry =∑ Fky =− F1 + F3 ⋅ 5 =140 N Rx
2 2
R= R + R = 141, 42 N
x y
Resultant couple moment
3 4
M A =∑ M A ( Fk ) =− F1 ⋅ 3 + F2 ⋅ 0 − F3 ⋅ ⋅ 4 + F3 ⋅ ⋅ 6 =
5 5
98
= 420 N .m

resultant force and couple moment acting at point A.
y 30 ⋅ cos 300 12
26 ⋅
13
5
30 ⋅ sin 30 0
26 ⋅
13
Solution:
R = ∑ Fk = F1 + F2 + F3 99
M O= ∑ M ( F ) + ∑ M=
O k M O ( F1 ) + M O ( F2 ) + M
Solution: MA
Resultant force of the system Rx
0 5
Rx =−30 ⋅ sin 30 + 26 ⋅ = −5kN R R
13
y
0 12
Ry =−30 ⋅ cos 30 − 26 ⋅ =−49, 98kN
13
2 2
R= R + R = 50, 2kN
x y
Resultant couple moment
MA = ∑M (F ) =
A k
0 0
30 ⋅ sin 30 ⋅ 0, 3 − 30 ⋅ cos 30 ⋅ 2 −
5 12 100
−26 ⋅ ⋅ 0, 3 − 26 ⋅ ⋅ 6 − 45 =239kN .m
13 13

resultant force and couple moment acting at point O.
Solution:
R
= W=
R ∑ W= k W1 + W2 101
M
= O ∑ m (W=)
O k W1d1 + W2 d 2
Problem. Replace the force and couple system by an equivalent resultant

force and couple moment acting at point A.
102
Problem. Replace the force and couple system by an equivalent resultant

force and couple moment acting at point O.
103
O
4.2. For three dimensions

R = ∑ Fk
 Rx =

∑F kx = F1x + F2 x + ... + Fnx

 Ry = ∑F ky = F1 y + F2 y + ... + Fny

 Rz =
 ∑F kz = F1z + F2 z + ... + Fnz
M O = ∑ mO ( Fk )
M

=Ox ∑ m (=
F )x k mx ( F1 ) + mx ( F2 ) + ... + mx ( Fn )

M=Oy ∑ m (=
F )y k m y ( F1 ) + m y ( F2 ) + ... + m y ( Fn )
104

M
 =Oz ∑ m (=
F )z k mz ( F1 ) + mz ( F2 ) + ... + mz ( Fn )
Example. Determine resultant force and couple moment acting at point

A.
z
B′
F2
F3 F1
R = ∑ Fk
c A y
a
M O = ∑ M O ( Fk )
b
x 105
Solution
Resultant force of the system: R = F1 + F2 + F3
Rx
= ∑
= F kx F2
Ry
= ∑
= F ky F3 R= Rx2 + Ry2 + Rz2 = F12 + F22 + F32
Rz
= ∑
= F kz F1
Resultant couple moment: M A = M A ( F1 ) + M A ( F2 ) + M A ( F3 )
 M A=

x ∑ mx ( Fk =
) F1 ⋅ b

 M A=y ∑ my ( Fk=) F2 ⋅ c

 M A z =∑ mz ( Fk ) =− F2 ⋅ b + F3 ⋅ a
 106

A.
z z F1 cos 450
F2 F2
F1
y a A y
a A
a a
a a F1 cos 450
x x
R = ∑ Fk 107
M O = ∑ mO ( Fk )
Solution
Resultant force of the system: R= F1 + F2
Rx
= ∑
= F kx
0
F1 cos 45 + F2
Ry
= ∑
= F ky 0
Rz
= ∑
= F kz F1 cos 450
Resultant couple moment: M A M A ( F1 ) + M A ( F2 )
=
 M A x ∑=
= mx ( Fk ) F1 cos 450 ⋅ a


 M A=y ∑ my ( Fk=) F2 ⋅ a

M A z =
 ∑ mz ( Fk ) = 0
− F1 cos 45 ⋅ a 108

O.
R = ∑ Fk 109
M O = ∑ M O ( Fk )
Solution
Resultant force of the system:
=∑
Rx=F 0 kx
R
= ∑=Fy0 ky
∑F =
R = z100 − 400 − 500 =
kz −800 N
Resultant couple moment:
 M O x =∑ mx ( Fk ) =−400 ⋅ 4 − 500 ⋅ 4 =−3600 N .m



 M O y= ∑ m y ( Fk )= 500 ⋅ 4 − 100 ⋅ 3= 1700 N .m

M O z ∑ = mz ( Fk ) 0
110

Problem. Determine resultant force and couple moment acting at point

O.
111
Problem. Determine resultant force and couple moment acting at point

O.
112
THANK
YOU!

Chapter1 - COLYTHUYET

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Chapter1 - COLYTHUYET

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GOAL OF THE CHAPTER

*Understand and identify types of force and couple force.

* Find the resultant of a force system.

*Calculate the moment of a force about a point and the moment of a

* Simplification of force system

1.1. Rigid body:

1.2. Static equilibrium:

1.3. Forces: In Cartesian coordinate system:

1.3.1. Classification of Force

q: magnitude of distributed load.

* Evaluent resultant force

Example: Determine the magnitude and location of the equivalent

Example: Determine the magnitude and location of the equivalent

Example: Determine the magnitude and location of the equivalent

1.3.2. System of forces

1.3.3. Equivalent force systems

1.3.4. Resultant of force system:

1.3.5. Equilibrium of force system

1.3.6. Parallelogram of force

Problems: Determine the components of forces F for the axis x, y and z

2.1 . Moment of a force about a point – scalar formulation

2.1 . Moment of a force about a point – scalar formulation

Direction: + Moment axis perpendicular to the

+ Plus if counterclockwise rotation

2.1 . Moment of a force about a point – scalar formulation

2.1 . Moment of a force about a point – vector formulation

Determine moment of forces about points A.

Example: Determine moment of forces about points A, B, C

Example: Determine moment of forces about points A, B, C

4kN 3kN 2kN

Example: Determine moment of forces about points A

2.2 . Moment of a force about an axis– vector formulation

Moment of a force about a point O: mz F

2.2 . Moment of a force about an axis– vector formulation

( yFz − zFy ) i + ( zFx − xFz ) j + ( xFy − yFx ) k

Example: Given F as shown in Figure 2. Determine moment of force F about

Example: Given F as shown in Figure 2. Determine moment of force F about

Example: Given F as shown in Figure 2. Determine moment of force F about

A couple is defined as two parallel forces that have the same

3.1 Moving a force on its line of action (Trượt lực)

3.2 Moving a force off of its line of action (Dời lực)

 Resultant force – resultant couple of the system

R ˗ resultant force of the system

4.1. For coplanar (x-y plane):

Example. Replace the force and couple system by an equivalent

Resultant couple moment

Example. Replace the force and couple system by an equivalent

Resultant couple moment

Example. Replace the force and couple system by an equivalent

Problem. Replace the force and couple system by an equivalent resultant

Problem. Replace the force and couple system by an equivalent resultant

4.2. For three dimensions

Example. Determine resultant force and couple moment acting at point

Example. Determine resultant force and couple moment acting at point

Example. Determine resultant force and couple moment acting at point

Resultant couple moment:

 M O x =∑ mx ( Fk ) =−400 ⋅ 4 − 500 ⋅ 4 =−3600 N .m

Problem. Determine resultant force and couple moment acting at point

Problem. Determine resultant force and couple moment acting at point

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