Handouts ch03

ENGINEERING MECHANICS STATICS
RIGID BODIES:
EQUIVALENT SYSTEMS OF FORCES
PHAM HUY HOANG, PhD.
Ho Chi Minh City International University
Rigid bodies: equivalent system of forces

Contents
Introduction Moment of a Force About a Given Axis
External and Internal Forces Sample Problem 3.3
Principle of Transmissibility: Moment of a Couple
Equivalent Forces Addition of Couples
Vector Products of Two Vectors Couples Can Be Represented By
Moment of a Force About a Point Vectors
Varigon’s Theorem Resolution of a Force Into a Force at O
Rectangular Components of the and a Couple
Moment of a Force Sample Problem 3.4
Sample Problem 3.2 System of Forces: Reduction to a
Scalar Product of Two Vectors Force and a Couple
Scalar Product of Two Vectors: Further Reduction of a System of

Applications Forces
Mixed Triple Product of Three Sample Problem 3.5

Vectors Sample Problem 3.6
Pham Huy Hoang 2
1
Introduction
• The size of the body and the specific points of
application of the forces must be considered.
• Bodies are assumed to be infinitely rigid.
• This chapter describes the effect of forces

exerted on a rigid body.
• Forces and moments acting on a rigid body can

be replaced by an equivalent system.
Pham Huy Hoang 3

External and Internal Forces
• Two types of forces:
- External forces
- Internal forces
• External forces are

shown in a free-body
diagram.
• If unopposed, each external force can causes a

motion ( translation, rotation or both).
Pham Huy Hoang 4
2
Principle of Transmissibility: Equivalent Forces
• Principle of Transmissibility:
Conditions of equilibrium or motion are not
affected by transmitting a force along its line of
action.
• NOTE: F and F’ are equivalent forces.
Pham Huy Hoang 5
B1
Principle of Transmissibility: Equivalent Forces
• Moving the point of application of the force F to the
rear bumper does not affect the motion or the other
forces acting on the truck.
Pham Huy Hoang 6
3
Slide 6
B1 rear bumper: thanh chắn phía trước hay sau xe

Ba, 2/21/2010
B2
Vector Product of Two Vectors
• Vector product/cross product
of two vectors P and Q is
defined as the vector V which
satisfies the following
conditions:
- Line of action of V is
perpendicular to plane
containing P and Q.
- Magnitude of V is V = PQ sin q
- Direction of V is obtained
from the right-hand rule.
Pham Huy Hoang 7
B3
Vector Product of Two Vectors
r r r
P´Q Q
• Vector products: r
r P
- are not commutative: Q
r r
r
Q ´ P = -(P ´ Q ) P Q´ P
- are distributive:
P ´ (Q1 + Q 2 ) = P ´ Q1 + P ´ Q 2
- are not associative:

(P ´ Q ) ´ S ¹ P ´ (Q ´ S )
Pham Huy Hoang 8
4
Slide 7
B2 cross product: tích hữu hướng

Ba, 2/21/2010
Slide 8
B3 commutative: giao hoán, đổi lẫn

distributive: phân phối
associative: kết hợp
Ba, 2/21/2010
Vector Products: Rectangular Components
• Vector products of Cartesian

unit vectors,
r r r r r r r r
i ´i = 0 j ´ i = -k k ´ i = j
r r r r r r r r
i´ j =k j´ j =0 k ´ j = -i
r r r v r r r r
i ´k = - j j ´k = i k ´k = 0
Pham Huy Hoang 9

Vector Products: Rectangular Components
• Vector products in terms of rectangular coordinates
( ) ( )
r r r r r r r
V = Px i + Py j + Pz k ´ Qxi + Q y j + Qz k
( ) r
= PyQz - Pz Q y i + (Pz Qx - PxQz ) j
r
( )
r
+ PxQ y - Py Qx k
r r r
i j k
= Px Py Pz
Qx Qy Qz
Pham Huy Hoang 10
5
Moment of a Force About a Point
• The moment of force F about O
is defined as: M = r ´ F
O
• The moment vector MO is
perpendicular to the plane
containing O and the force F.
• Magnitude of MO :
M O = rF sin q = Fd
(Moment arm: d)
• The sense of the moment may be

determined by the right-hand rule.
Pham Huy Hoang 11

• Any force F’ that has the same magnitude and
direction as F, is equivalent if it also has the same
line of action and therefore, produces the same
moment.
MO F¢ a¢
r¢
O F
d
r a
(F and F’ have the
Line of action same moment arm d)
F = F¢; rsinα = r¢sinα¢ = d

Þ M O = Frsinα = F¢r¢sinα¢ = Fd
Pham Huy Hoang 12
6
B4
• Two-dimensional structures
have length and breadth but
negligible depth and are
subjected to forces contained F
in the plane of the structure.
MO
• The plane of the structure contains the point O and

the force F. MO, the moment of the force about O,
is perpendicular to the plane.
Pham Huy Hoang 13
B6
• If the force tends to rotate the F
structure clockwise, the sense of
the moment vector is out of the
plane of the structure and the MO
magnitude of the moment is
positive.
• If the force tends to rotate the

structure counterclockwise, the
sense of the moment vector is
F
into the plane of the structure
MO
and the magnitude of the
moment is negative.
Pham Huy Hoang 14
7
Slide 13
B4 breadth: bề/độ rộng

Ba, 2/21/2010
Slide 14
B6 clokwise: hữu chiều/chiều kim đồng hồ

counter clockwise: ngược chiều kim đồng hồ
Ba, 2/21/2010
Varignon’s Theorem
• The moment about a give
point O of the resultant of
several concurrent forces is
equal to the sum of the
moments of the various
moments about the same
point O.
r r r r r r r
r ´ (F1 + F2 + L) = r ´ F1 + r ´ F2 + L
Pham Huy Hoang 15

Rectangular Components of the Moment of a Force
The moment of F about O,
r r r r r r r
M O = r ´ F , r = xi + yj + zk
r r r r
F = Fx i + Fy j + Fz k
r r r r
M O = M xi + M y j + M z k
r r r
i j k
= x y z
Fx Fy Fz
( r
) r
( ) r
= yFz - zFy i + ( zFx - xFz ) j + xFy - yFx k
Pham Huy Hoang 16
8
The moment of F about B:
r r r
M B = rA / B ´ F
r r r
rA / B = rA - rB
r r
= ( x A - xB )i + ( y A - y B ) j
r
+ (z A - zB )k
r r r r
F = Fxi + Fy j + Fz k
r r r
i j k
r
M B = ( x A - xB ) ( y A - yB ) (z A - zB )
Fx Fy Fz
Pham Huy Hoang 17

For two-dimensional structures:
r
( r
M O = xFy - yFz k )
M O = M Z = xFy - yFz
Pham Huy Hoang 18
9
For
r two-dimensional structures: r
[ ]
M O = ( x A - xB )Fy - ( y A - y B )Fz k
M O = M Z = ( x A - xB )Fy - ( y A - yB )Fz
Pham Huy Hoang 19

Sample Problem 1
A 100-lb vertical force is applied to
the end of a lever attached to a
shaft at O. Determine:
- moment about O,
- horizontal force at A which creates
the same moment,
- location for a 240-lb vertical force to produce the

same moment,
- whether any of the forces from previous parts is
equivalent to the original force.
Pham Huy Hoang 20
10
Sample Problem 1
- 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 in.)cos 60° = 12 in.
M O = (100 lb )(12 in.) = 1200(lb × in.)
Pham Huy Hoang 21

Sample Problem 1
- Horizontal force at A that produces the same
moment:
d = (24 in.)sin 60° = 20.8 in.

M O = Fd
1200 lb × in. = F (20.8 in.)
1200 lb × in.
F= = 57.7lb
20.8 in.
Pham Huy Hoang 22
11
Sample Problem 1
- The smallest force A to produce the same moment
occurs when the perpendicular distance is a
maximum or when F is perpendicular to OA.
M O = Fd
1200 lb × in. = F (24 in.)
1200 lb × in.
F= = 50 lb
24 in.
Pham Huy Hoang 23

Sample Problem 1
- To determine the point of application of a 240 lb
force to produce the same moment,
M O = Fd
1200 lb × in. = (240 lb )d
1200 lb × in.
d= = 5 in.
240 lb
OB cos60° = 5 in.
OB = 10 in.
Pham Huy Hoang 24
12
Sample Problem 1
- Although each of the forces in
previous parts produces the same
moment as the 100 lb force, none
are of the same magnitude and
sense, or on the same line of action.
None of the forces is equivalent to
the 100 lb force.
Pham Huy Hoang 25
B7
Sample Problem 2
The rectangular
plate is supported
by the brackets at
A and B and by a
wire CD. Knowing
that the tension in
the wire is 200 N,
determine the
moment about A of
the force exerted
by the wire at C.
Pham Huy Hoang 26
13
Slide 26
B7 bracket:chỗ tựa
Ba, 2/21/2010
Sample Problem 2
SOLUTION:
The moment MA of
the force F exerted by
the wire is obtained
by evaluating the
vector product:
r r r
M A = rC A ´ F
Pham Huy Hoang 27

Sample Problem 2
r r r
M A = rC A ´ F
r r r r r
rC A = rC - rA = (0.3 m )i + (0.08 m ) j
r
r r rC D
F = Fl = (200 N )
rC D
r r r
- (0.3 m )i + (0.24 m ) j - (0.32 m )k
= (200 N )
0.5 m
r r r
= -(120 N )i + (96 N ) j - (128 N )k
Pham Huy Hoang 28
14
Sample Problem 2
r r r
M A = rC A ´ F
r r r
i j k
r
M A = 0.3 0 0.08
- 120 96 - 128
v r r
M A = -(7.68 N × m )i + (28.8 N × m ) j
r
+ (28.8 N × m )k
Pham Huy Hoang 29

Scalar Product of Two Vectors
• The scalar product or dot product
between two vectors P and Q is
defined as
r r
P · Q = PQcosq (scalar result)
• Scalar products:
r r r r
- are commutative: P · Q = Q · P
r r r r r r r
- are distributive: P · (Q 1 + Q 2 ) = P · Q1 + P · Q2
r r r
- are not associative: (P · Q ) · S = undefined
Pham Huy Hoang 30
15
• Scalar products with Cartesian

unit components:
( )( )
r r r r r r r r
P · Q = Pxi + Py j + Pz k · Qxi + Q y j + Qz k
r r r r r r r r v r r r
i ·i =1 j · j =1 k · k =1 i · j = 0 j ·k = 0 k ·i = 0
r r
P · Q = PxQx + PyQ y + Pz Qz
r r
P · P = Px2 + Py2 + Pz2 = P 2
Pham Huy Hoang 31

• Angle between two vectors:
r r
P · Q = PQ cosq = PxQx + Py Q y + Pz Qz
PxQx + PyQ y + Pz Qz
cosq =
PQ
• Projection of a vector on a given axis:

POL = P cosq = projection of P along OL
r r
P · Q = PQ cosq
r r
P·Q
= P cosq = POL
Q
Pham Huy Hoang 32
16
Scalar Product of Two Vectors: Applications
• For an axis defined by a unit vector:
r r
POL = P · l
= Px cosq x + Py cosq y + Pz cosq z
Pham Huy Hoang 33

Mixed Triple Product of Three Vectors
• Mixed triple product of three
vectors:
r r r
S · (P ´ Q ) = scalar result
• The six mixed triple products formed from S, P,

and Q have equal magnitudes but not the same
sign:
r r r r r r r r r
S · (P ´ Q ) = P · (Q ´ S ) = Q · (S ´ P )
r r r r r r r r
= - S · (Q ´ P ) = - P · (S ´ Q ) = -Q · (P ´ S )
Pham Huy Hoang 34
17
Mixed Triple Product of Three Vectors
• Evaluating the mixed
triple product:
r r r
( )
S · (P ´ Q ) = S x PyQz - Pz Q y + S y (Pz Qx - PxQz )
(
+ S z PxQ y - PyQx )
Sx Sy Sz
= Px Py Pz
Qx Qy Qz
Pham Huy Hoang 35

Moment of a Force About a Given Axis
• Moment MO of a force F applied
at the point A about a point O:
r r r
MO = r ´ F
• Scalar moment MOL about an axis OL is the

projection of the moment vector MO onto the axis:
r r r r r
M OL = l · M O = l · (r ´ F )
Pham Huy Hoang 36
18
• Moments of F about the
coordinate axes,
M x = yFz - zFy
M y = zFx - xFz
M z = xFy - yFx
Pham Huy Hoang 37

• Moment of a force about

an arbitrary axis,
r r
M BL = l · M B
r r
( r
= l · rA B ´ F)
r r r
rA B = rA - rB
• The result is independent of the point B along the

given axis.
Pham Huy Hoang 38
19
Sample Problem 3
A cube is acted on by a force

P as shown. Determine the
moment of P
a)about A
b)about the edge AB and
c) about the diagonal AG of the cube.
d)Determine the perpendicular distance between
AG and FC.
Pham Huy Hoang 39

Sample Problem 3
• Moment of P about A:
r r r
M A = rF A ´ P
r r r r r
rF A = ai - a j = a (i - j )
r r r r r
P = P ( 2 i + 2 j ) = P 2 (i + j )
r r r r r
M A = a (i - j ) ´ P 2 (i + j )
r r r r
M A = (aP 2 )(i + j + k )
• Momentr ofr P about AB,

M AB = i · M A
r r r r
= i · (aP 2 )(i + j + k ) M AB = aP 2
Pham Huy Hoang 40
20
Sample Problem 3
• Moment of P about the diagonal AG:
r r
M AG = l · M A
r r r r
r rA G ai - aj - ak 1 r r r
l= = = (i - j - k )
rA G a 3 3
r aP r r r
MA = (i + j + k )
2
1 r r r aP r r r
M AG = (i - j - k )· (i + j + k )
3 2
aP aP
= (1 - 1 - 1) M AG = -
6 6
Pham Huy Hoang 41

Sample Problem 3.3
• Perpendicular distance between
AG and FC:
r r P r r 1 r r r
P·l = ( j - k )· (i - j - k )
2 3
P
= (0 - 1 + 1)
6
=0
Therefore, P is perpendicular to AG.

aP a
M AG = = Pd d=
6 6
Pham Huy Hoang 42
21
Moment of a Couple
• Two forces F and -F having the
same magnitude, parallel lines of
action, and opposite senses are
said to form a couple.
• Moment of the couple:

r r r r r
M = rA ´ F + rB ´ (- F )
r r r
= (rA - rB ) ´ F
r r
= r ´F
M = rF sin q = Fd
Pham Huy Hoang 43

Moment of a Couple
• The moment vector of the couple is

independent of the choice of the origin
of the coordinate axes, i.e., it is a free
vector that can be applied at any point
with the same effect.
Pham Huy Hoang 44
22
Moment of a Couple
Two couples will have equal
moments if
F•1d1 = F2d 2
• the two couples lie in

parallel planes, and
• the two couples have the

same sense or the
tendency to cause rotation
in the same direction.
Pham Huy Hoang 45

Addition of Couples
• Consider two
intersecting planes P1
and P2 with each
containing a couple
r r r
M1 = r ´ F1 in plane P1
r r r
M 2 = r ´ F2 in plane P2
• Resultants of the vectors also form a

couple Mr = rr ´ Rr = rr ´ (Fr + Fr )
1 2
Pham Huy Hoang 46
23
Addition of Couples
• By Varigon’s theorem
r r r r r
M = r ´ F1 + r ´ F2
r r
= M1 + M 2
• Sum of two couples is also a

couple that is equal to the
vector sum of the two couples
Pham Huy Hoang 47

Couples Can Be Represented by Vectors
• A couple can be represented by a vector with

magnitude and direction equal to the moment of
the couple.
• Couple vectors obey the law of addition of vectors.
Pham Huy Hoang 48
24
Couples Can Be Represented by Vectors
• Couple vectors are free vectors, i.e., the point of

application is not significant.
• Couple vectors may be resolved into component

vectors.
Pham Huy Hoang 49

Resolution of a Force Into a Force at O and a Couple
• Force vector F can not be simply moved to O without

modifying its action on the body.
• Attaching equal and opposite force vectors at O
produces no net effect on the body.
• The three forces may be replaced by an equivalent
force vector and couple vector, i.e, a force-couple
system.
Pham Huy Hoang 50
25
Resolution of a Force Into a Force at O and a Couple
• Moving F from A to a different point O’ requires the

addition
r of a different couple vector MO’
r r
M O' = r ¢ ´ F
• The moments of F about O and O’ are related,
r r r r r r r r r r r r r
M O ' = r '´F = (r + s ) ´ F = r ´ F + s ´ F = M O + s ´ F
• Moving the force-couple from O to O’ requires the
addition of the moment of the force at O about O’.
Pham Huy Hoang 51

Sample Problem 4
Determine the components of the

single couple equivalent to the
couples shown.
Pham Huy Hoang 52
26
B8
Sample Problem 4
SOLUTION:
• Attach equal and opposite
20 lb forces in the +x
direction at A, thereby
producing 3 couples for
which the moment
components are easily
computed.
• Alternatively, compute the sum of the moments of
the four forces about an arbitrary single point. The
point D is a good choice as only two of the forces will
produce non-zero moment contributions..
Pham Huy Hoang 53

Sample Problem 4
• Attach equal and opposite
20 lb forces in the +x
direction at A
M x = -(30 lb )(18 in.) = -540 lb × in.

M y = +(20 lb )(12 in.) = +240lb × in.
• The three
couples may be M z = +(20 lb )(9 in.) = +180 lb × in.
r r r
represented by M = -(540 lb × in.)i + (240lb × in.) j
three couple r
vectors: + (180 lb × in.)k
Pham Huy Hoang 54
27
Slide 53
B8 thereby: thành ra
Ba, 2/21/2010
Sample Problem 4
• Alternatively, compute the

sum of the moments of the
four forces about D.
• Only the forces at C and E

contribute to the moment
about D.
r r r r
M = M D = (18 in.) j ´ (- 30 lb)k + [(9 in.) j - (12 in.)k ]´ (- 20 lb)i
r r r
r r r r
M = -(540 lb × in.)i + (240lb × in.) j + (180 lb × in.)k
Pham Huy Hoang 55

System of Forces: Reduction to a Force and Couple
• A system of forces may be replaced by a collection

of force-couple systems acting a given point O
• The force and couple vectors may be combined
into a resultant force vector and a resultant couple
vector,
r r rR r r
R = åF MO = å (r ´ F )
Pham Huy Hoang 56
28
System of Forces: Reduction to a Force and Couple
• The force-couple system at O

may be moved to O’ with the
addition of the moment of R
about O’ ,
rR rR r r
MO ' = M O +s´R
• Two systems of forces are

equivalent if they can be reduced
to the same force-couple system.
Pham Huy Hoang 57

Further Reduction of a System of Forces
• If the resultant force and couple at O
are mutually perpendicular, they can
be replaced by a single force acting
along a new line of action.
• 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.
Pham Huy Hoang 58
29
• System of
coplanar forces
is reduced to a
force-couple
system
that is mutually
perpendicular:
{ r
R , MO
rR
}
• In terms of rectangular
coordinates: xR y - yRx = M R
O
Pham Huy Hoang 59

• A force-couple system can be reduced

to a single rforce by moving the line of
action of Rr until its moment about O
becomes M R
O
Pham Huy Hoang 60
30
Sample Problem 5
Reduce the system of forces applied to a beam to:

(a) an equivalent force-couple system at A,
(b) an equivalent force couple system at B,
(c) a single force or resultant.
Note: Since the support reactions are not included, the given system will
not maintain the beam in equilibrium.
Pham Huy Hoang 61

Sample Problem 5
SOLUTION:
a)Compute the
resultant force and
the resultant couple
for the moments of
b)Find an equivalent the forces about A.
force-couple system
at B.
c)Determine the point

of application for the
resultant force
Pham Huy Hoang 62
31
Sample Problem 5
a)Compute the resultant force
and the resultant couple at
A.
r r
R = åF
r r r r
= (150 N ) j - (600 N ) j + (100 N ) j - (250 N ) j
r
= -(600 N ) j
rR r r
MA = å (r ´ F )
r r r r
= (1.6 i )´ (- 600 j ) + (2.8 i ) ´ (100 j )
r r
+ (4.8 i ) ´ (- 250 j )
r
= -(1880 Nm)k
Pham Huy Hoang 63

Sample Problem 5
b)Equivalent force-couple
system at B:
- The force at B is unchanged.
- The couple at B has two
parts.
r r
R = -(600 N ) j
rR rR r r r
MB = MA + rB A ´ R = + (1000 Nm)k
r r r
= -(1880 N × m )k + (- 4.8 m )i ´ (- 600 N ) j
Pham Huy Hoang 64
32
Sample Problem 5
-(600 N) j
1000 Nm 5
A C B BC = = m
600 N 3
5/3 m
c) A force-couple system can be reduced to a single

force by moving the line of action of the force 600 N
to C so that its moment about B becomes 1000 Nm
Pham Huy Hoang 65

Sample Problem 6
Three cables are

attached to the
bracket.
Replace the tension
forces with an
equivalent force-
couple system at A.
Pham Huy Hoang 66
33
Sample Problem 6
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.
r r
• Equivalent force: R = å F
vR r r
• Equivalent couple: M A = å (r ´ F)
Pham Huy Hoang 67

Sample Problem 6
• Determine the relative

position vectors with
respect to A.
r r r
rB A = 0.075 i + 0.050k (m )
r r r
rC A = 0.075 i - 0.050k (m )
r r r
rD A = 0.100 i - 0.100 j (m )
Pham Huy Hoang 68
34
Sample Problem 6
• Resolve the forces into
rectangular components.
r r
FB = (700 N )l
r r r r
r rE B 75 i - 150 j + 50k
l= =
rE B 175
r r r
= 0.429 i - 0.857 j + 0.289k
r r r r
FB = 300 i - 600 j + 200k (N )
r r r r r
FC = (1000 N )(cos 45 i - cos 45 j ) = 707 i - 707 j (N )
r r r r r
FD = (1200 N )(cos 60 i + cos 30 j ) = 600 i + 1039 j (N )
Pham Huy Hoang 69

Sample Problem 6
• Compute the equivalent
force:
r r
R = åF
r
= (300 + 707 + 600)i
r
+ (- 600 + 1039) j
r
+ (200 - 707 )k
r r r
= 160 i + 439 j - 507k
Pham Huy Hoang 70
35
Sample Problem 6
r r r
i j k
r r
rB A ´ F B= 0.075 0 0.050
300 - 600 200
r r
= 30i - 45k
r r r
i j k
r r
rC A c= 0.075 0 - 0.050
´ F
707 0 - 707
r
= 17.68 j
Pham Huy Hoang 71

Sample Problem 6
r r r
i j k
r r
rD A ´F D= 0.100 - 0.100 0
600 1039 0
r
= 163.9k
• The equivalent couple:

rR r r r r r
MA = å (r ´ F ) = 30 i + 17.68 j + 118.9k
Pham Huy Hoang 72
36

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ENGINEERING MECHANICS STATICS

PHAM HUY HOANG, PhD.

Ho Chi Minh City International University

Rigid bodies: equivalent system of forces

Scalar Product of Two Vectors: Further Reduction of a System of

Mixed Triple Product of Three Sample Problem 3.5

• Bodies are assumed to be infinitely rigid.

• This chapter describes the effect of forces

• Forces and moments acting on a rigid body can

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Rigid bodies: equivalent system of forces

• External forces are

• If unopposed, each external force can causes a

• NOTE: F and F’ are equivalent forces.

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B1 rear bumper: thanh chắn phía trước hay sau xe

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- are not associative:

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B2 cross product: tích hữu hướng

B3 commutative: giao hoán, đổi lẫn

• Vector products of Cartesian

Rigid bodies: equivalent system of forces

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• The sense of the moment may be

Rigid bodies: equivalent system of forces

F = F¢; rsinα = r¢sinα¢ = d

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• The plane of the structure contains the point O and

• If the force tends to rotate the

B4 breadth: bề/độ rộng

B6 clokwise: hữu chiều/chiều kim đồng hồ

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Rigid bodies: equivalent system of forces

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Rigid bodies: equivalent system of forces

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Rigid bodies: equivalent system of forces

- location for a 240-lb vertical force to produce the

Rigid bodies: equivalent system of forces

d = (24 in.)sin 60° = 20.8 in.

Rigid bodies: equivalent system of forces

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Rigid bodies: equivalent system of forces

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Rigid bodies: equivalent system of forces

• Scalar products with Cartesian

Rigid bodies: equivalent system of forces

• Projection of a vector on a given axis:

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Rigid bodies: equivalent system of forces

• The six mixed triple products formed from S, P,

Rigid bodies: equivalent system of forces

• Scalar moment MOL about an axis OL is the

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Rigid bodies: equivalent system of forces

• Moment of a force about