Chapter 03

Chapter Objectives
 To discuss the concept of the moment of a force and show

how to calculate it in two and three dimensions.
 To provide a method for finding the moment of a force about a
specified axis.
 To define the moment of a couple.
 To present methods for determining the resultants of
nonconcurrent force systems.
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In-Class Activities
1. Reading Quiz 8. Moment of a Couple

2. Applications 9. Simplification of a
3. Moment of a Force – Force and Couple
Scalar Formation System
4. Cross Product 10. Further
5. Moment of Force – Simplification of
Vector Formulation a Force and Couple
6. Principle of Moments System
7. Moment of a Force 12. Concept Quiz
About a Specified Axis

READING QUIZ
1) What is the moment of the 10 N force about

point A (MA)?
F = 12 N
a) 3 N·m
b) 36 N·m
c) 12 N·m
d=3m
d) (12/3) N·m • A
e) 7 N·m

READING QUIZ (cont)
2) The moment of force F about point O is

defined as MO = ___________ .
a) r x F
b) Fx r
c) r • F
d) r* F

READING QUIZ (cont)
3) When determining the moment of a force

about a specified axis, the axis must be
along _____________.
a) the x axis
b) the y axis
c) the z axis
d) any line in 3-D space
e) any line in the x-y plane

READING QUIZ (cont)
4) The triple scalar product u • ( r  F )

results in:
a) a scalar quantity ( + or - )
b) a vector quantity.
c) zero.
d) a unit vector.
e) an imaginary number.

APPLICATIONS
MA = FdA
dA
A B

MOMENT OF A FORCE – SCALAR
FORMULATION
• Moment of a force about a point or axis – a measure
of the tendency of the force to cause a body to rotate
about the point or axis
• Torque – tendency of rotation caused by Fx or simple
moment (Mo) z

FORMULATION (cont)
Magnitude
• For magnitude of MO,
MO = Fd (Nm)
where d = perpendicular distance
from O to its line of action of force
Direction
• Direction using “right hand rule”

FORMULATION (cont)
Resultant Moment
• Resultant moment, MRo = moments of all the forces
MRo = ∑Fd

EXAMPLE 1
For each case, determine the moment of the force about

point O.
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EXAMPLE 1 (cont)
Solution
• Line of action is extended (a ) M o  (100 N )(2 m)  200 N .m(CW )

as a dashed line to establish
moment arm d.
• Tendency to rotate is
indicated and the orbit is
shown as a colored curl.
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EXAMPLE 1 (cont)
Solution
(b )M o  (50N )(0.75m )  37.5N.m(CW )
(c )M o  ( 40N )( 4m  2 cos 30  m )  229N.m(CW )
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EXAMPLE 1 (cont)
Solution
(d )M o  (60N )(1sin 45  m )  42.4N.m(CCW )
(e )M o  (7kN )(4m  1m )  21.0kN.m(CCW )
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CROSS PRODUCT
• Cross product of two vectors A and B yields C, which

is written as
C=AXB
Magnitude
• Magnitude of C is the product of
the magnitudes of A and B
• For angle θ, 0° ≤ θ ≤ 180°
C = AB sinθ

CROSS PRODUCT (cont)
Direction
• Vector C has a direction that is perpendicular to the
plane containing A and B such that C is specified by
the right hand rule
• Expressing vector C when
magnitude and direction are known
C = A X B = (AB sinθ)uC

Laws of Operations
1. Commutative law is not valid
AXB≠BXA
Rather,
AXB=-BXA
• Cross product A X B yields a
vector opposite in direction to C
B X A = -C

Laws of Operations
2. Multiplication by a Scalar
a( A X B ) = (aA) X B = A X (aB) = ( A X B )a
3. Distributive Law
AX(B+D)=(AXB)+(AXD)
• Proper order of the cross product must be maintained
since they are not commutative

Cartesian Vector Formulation

• Use C = AB sinθ on pair of Cartesian unit vectors
• A more compact determinant in the form as
  
i j k
 
A  B  Ax Ay Az
Bx By Bz

MOMENT OF A FORCE – VECTOR
FORMULATION
• Moment of force F about point O can be expressed

using cross product
MO = r F
Magnitude
• For magnitude of cross product,
MO = rF sinθ
• Treat r as a sliding vector.
Since d = r sinθ,
MO = rF sinθ = F (rsinθ) = Fd

FORMULATION (cont)
Direction
• Direction and sense of MO
are determined by right-
hand rule
*Note:
- “curl” of the fingers
indicates the sense of
rotation
- Maintain proper order of r
and F since cross product is
not commutative

FORMULATION (cont)
Principle of Transmissibility
• For force F applied at any point A, moment created
about O is MO = rA  F
• F has the properties of a
sliding vector, thus
MO = r1  F = r2  F = r3  F

FORMULATION (cont)
Cartesian Vector Formulation

• For force expressed in Cartesian form,
  
i j k
  
M O  r  F  rx ry rz
Fx Fy Fz
• With the determinant expanded,
MO = (ryFz – rzFy)i
– (rxFz - rzFx)j + (rxFy – yFx)k

FORMULATION (cont)
Resultant Moment of a
System of Forces
• Resultant moment of
forces about point O can
be determined by vector
addition
MRo = ∑(r x F)

EXAMPLE 2
Two forces act on the rod. Determine the resultant

moment they create about the flange at O. Express the
result as a Cartesian vector.
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EXAMPLE 2 (cont)
Solution
Position vectors are directed from point O to each force
as shown.
These vectors are
rA   5 j m
rB   4i  5 j  2k  m
•The resultant moment about O is

M O    r  F   rA  F  rB  F
i j k i j k
 0 5 0  4 5 2
 60 40 20 80 40  30
  30i  40 j  60k  kN  m
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PRINCIPLE OF MOMENTS
• Also known as Varignon’s Theorem

“Moment of a force about a point is equal to the sum of
the moments of the forces’ components about the
point”
• Since F = F1 + F2,
MO = r X F
= r X (F1 + F2)
= r X F1 + r X F2

EXAMPLE 3
Determine the moment of the force about point O.
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EXAMPLE 3 (cont)
Solution
The moment arm d can be found by trigonometry
d   3 sin 75  2.898 m
Thus,
M O  Fd   5 2.898  14.5 kN  m
Since the force tends

to rotate or orbit
clockwise about
point O, the moment
is directed into
the page.
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MOMENT OF A FORCE ABOUT A
SPECIFIED AXIS
• For moment of a force about a point, the moment and
its axis is always perpendicular to the plane
• A scalar or vector analysis is used to find the
component of the moment along a specified axis that
passes through the point

SPECIFIED AXIS (cont)
Scalar Analysis
• According to the right-hand rule,
My is directed along the
positive y axis
• For any axis, the moment is
M a  Fd a
• Force will not contribute a moment

if force line of action is parallel or
passes through the axis

SPECIFIED AXIS (cont)
Vector Analysis
• For magnitude of MA,
MA = MOcosθ = MO·ua
where ua = unit vector
• In determinant form,
uax uay uaz
   
M a  uax  ( r XF )  rx ry rz
Fx Fy Fz

EXAMPLE 4
Determine the moment

produced by the force
F which tends to rotate
the rod about the AB axis.
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EXAMPLE 4 (cont)
Solution
Unit vector defines the direction of the AB axis of the rod

in the figure below, where
rB  0.4i  0.2 j

uB    0.8944i  0.4472 j
rB 0.4  0.2
2 2
For simplicity, choose rD

rD   0.6i m
The force is
F    300k  N
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MOMENT OF A COUPLE
• Couple
– two parallel forces
– same magnitude but opposite direction
– separated by perpendicular distance d
• Resultant force = 0
• Tendency to rotate in specified direction
• Couple moment = sum of moments of both couple
forces about any arbitrary point

MOMENT OF A COUPLE (cont)
Scalar Formulation
• Magnitude of couple moment
M = Fd
• Direction and sense are
determined by right hand rule
• M acts perpendicular to
plane containing the forces

Vector Formulation
• For couple moment,
M=rXF
• If moments are taken about point A, moment of –F is
zero about this point
• r is crossed with the force to which it is directed

Equivalent Couples
• 2 couples are equivalent if they produce the same
moment
• Forces of equal couples lie on the same plane or plane
parallel to one another

Resultant Couple Moment
• Couple moments are free vectors and may be applied
to any point P and added vectorially
• For resultant moment of For more than 2
two couples at point P, moments,
MR = M1 + M2 MR = ∑(r X F)

EXAMPLE 5
Determine the couple moment acting on the pipe.

Segment AB is directed 30° below the x–y plane.
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EXAMPLE 5 (cont)
Solution I: Vector Analysis
Take moment about point O,

M = rA X (-250k) + rB X (250k)
= (0.8j) X (-250k) + (0.66cos30ºi
+ 0.8j – 0.6sin30ºk) X (250k)
= {-130j}N.cm
Take moment about point A

M = rAB X (250k)
= (0.6cos30°i – 0.6sin30°k)
X (250k)
= {-130j}N.cm
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EXAMPLE 5 (cont)
Solution II : Scalar Analysis
Take moment about point A or B,

M = Fd = 250N(0.5196m)
= 129.9N.cm
Apply right hand rule, M
acts in the –j direction
M = {-130j}N.cm
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SIMPLIFICATION OF A FORCE AND
COUPLE SYSTEM
• An equivalent system is when the external effects are
the same as those caused by the original force and
couple moment system
• External effects of a system is the translating and
rotating motion of the body
• Or refers to the reactive forces at the supports if the
body is held fixed

SIMPLIFICATION OF A FORCE
AND COUPLE SYSTEM (cont)
• Equivalent resultant force acting
at point O and a resultant couple
moment is expressed as
FR   F
 M R O   MO   M
• If force system lies in the x–y plane
and couple moments are
perpendicular to this plane,
 FR  x   Fx
 FR  y   Fy
 M R O   MO   M

SIMPLIFICATION OF A
FORCE AND COUPLE SYSTEM (cont)
Procedure for Analysis

1. Establish the coordinate axes with the origin located at
point O and the axes having a selected orientation
2. Force Summation
3. Moment Summation

EXAMPLE 6
A structural member is subjected

to a couple moment M and forces
F1 and F2. Replace this system
with an equivalent resultant force
and couple moment acting at its
base, point O.
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EXAMPLE 6 (cont)
Solution
Express the forces and couple moments as Cartesian
vectors.
 
F1  {800k }N

   rCB 
F2  (300 N )uCB  (300 N )  

 rCB 
 
  0.15i  0.1 j   
 300   {249.6i  166.4 j }N
2 2
 (0.15)  (0.1) 
 4  3   
M  500  j  500 k  {400 j  300k }N .m
5 5
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EXAMPLE 6 (cont)
Solution
Force Summation.
 
FR  F ;
     
FR  F1  F2  800k  249.6i  166.4 j
  
 {249.6i  166.4 j  800k }N
       
M Ro  M C  M O  M  rC XF1  rB XF2
  
i j k
   
 (400 j  300k )  (1k ) X (800k )   0.15 0.1 1
 249.6 166.4 0
  
 {166i  650 j  300k }N .m
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FURTHER SIMPLIFICATION OF A
FORCE AND COUPLE SYSTEM
Concurrent Force System

• A concurrent force system is where lines of action of
all the forces intersect at a common point O
FR   F

Coplanar Force System

• Lines of action of all the forces lie in the same plane
• Resultant force of this system also lies in this plane

Parallel Force System

• Consists of forces that are all parallel to the z axis
• Resultant force at point O must also be parallel to this
axis

Reduction to a Wrench
• 3-D force and couple moment system have an
equivalent resultant force acting at point O
• Resultant couple moment not perpendicular to one
another

EXAMPLE 7
The jib crane is subjected to three coplanar forces. Replace

this loading by an equivalent resultant force and specify
where the resultant’s line of action intersects the column AB
and boom BC.
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EXAMPLE 7 (cont)
Solution
Force Summation
  FRx  Fx ;
 3
FRx  2.5kN    1.75kN
5
 3.25kN  3.25kN 
  FRy  Fy ;
 4
FRy  2.5 N    0.6kN
5
 2.60kN  2.60 N 
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EXAMPLE 7 (cont)
Solution
For magnitude of resultant force,
FR  ( FRx )2  ( FRy )2  (3.25)2  (2.60)2

 4.16kN
For direction of resultant force,
F 
  tan 1 Ry  tan 1 2.60 
 FRx   3.25 
 38.7
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EXAMPLE 7 (cont)
Solution
Moment Summation
 Summation of moments
about point A,
M RA  M A ;
3.25kN ( y )  2.60kN (0)
 1.75kn(1m)  0.6kN (0.6m)
3 4
 2.50kN  (2.2m)  2.50kN  (1.6m)
5 5
y  0.458m
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EXAMPLE 7 (cont)
Solution
Moment Summation
 Principle of Transmissibility
M RA  M A ;
3.25kN (2.2m)  2.60kN ( x)
 1.75kn(1m)  0.6kN (0.6m)
3 4
 2.50kN  (2.2m)  2.50kN  (1.6m)
5 5
x  2.177 m
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CONCEPT QUIZ
1) If a force of magnitude F can be applied in

4 different 2-D configurations (P,Q,R, & S),
select the cases resulting in the
maximum and minimum torque values on
the nut. (Max, Min).
a) (Q, P)
b) (R, S)
S
c) (P, R) R
d) (Q, S)
P Q
CONCEPT QUIZ (cont)
2) If M = r  F, then what will be

the value of M • r ?
a) 0
b) 1
c) r2F
d) None of the above.

CONCEPT QUIZ (cont)
3) Using the CCW direction as positive,

the net moment of the two forces
about point P is
a) 10 N ·m
b) 20 N ·m 10 N 5N
3m P 2m
c) - 20 N ·m
d) 40 N ·m
e) - 40 N ·m

CONCEPT QUIZ (cont)
4) If r = { 5 j } m and F = { 10 k } N, the
moment r x F equals { _______ } N·m.
a) 50 i b) 50 j c) –50 i d) –50 j e) 0
5) The vector operation (P  Q) • R equals
a) P  (Q • R). b) R • (P  Q).
c) (P • R)  (Q • R). d) (P  R) • (Q  R ).

CONCEPT QUIZ (cont)
6) The force F is acting along DC. Using

the triple product to determine the
moment of F about the bar BA, you
could use any of the following position
vectors except:
a) rBC
b) rAD
c) rAC
d) rDB
e) rBD

CONCEPT QUIZ (cont)
7) For finding the moment of the force F

about the x-axis, the position vector in
the triple scalar product should be ___ .
a) rAC
b) rBA
c) rAB
d) rBC

CONCEPT QUIZ (cont)
8) If r = {1 i + 2 j } m and F = { 10 i + 20 j +
30 k } N, then the moment of F about
the y-axis is ____ N · m.
a) 10
b) -30
c) -40

CONCEPT QUIZ (cont)
9) In statics, a couple is defined as

________ separated by a perpendicular
distance.
a) two forces in the same direction

b) two forces of equal magnitude
c) two forces of equal magnitude acting in the
same direction
d) two forces of equal magnitude acting in opposite
directions

CONCEPT QUIZ (cont)
10) The moment of a couple is called a

_____ vector.
a) Free b) Spin
c) Romantic d) Sliding
11) F1 and F2 form a couple. The moment

of the couple is given by ______ .
F 1
a) r1 x F1 b) r2 x F1 r1
r2
c) F2 x r1 d) r2 x F2
F 2
CONCEPT QUIZ (cont)
12) If three couples act on a body, the

overall result is that
a) The net force is not equal to 0.

b) The net force and net moment are equal to 0.
c) The net moment equals 0 but the net force is not
necessarily equal to 0.
d) The net force equals 0 but the net moment is not
necessarily equal to 0 .

CONCEPT QUIZ (cont)
13) A general system of forces and

couple moments acting on a rigid
body can be reduced to a ___ .
a) single force
b) single moment
c) single force and two moments
d) single force and a single moment

CONCEPT QUIZ (cont)
14) The original force and couple system

and an equivalent force-couple
system have the same _____ effect on
a body.
a) internal
b) external
c) internal and external
d) microscopic

CONCEPT QUIZ (cont)
15) The forces on the pole can be

reduced to a single force and a single
moment at point ____ .
Z
a) P
S
b) Q R
Q
c) R
P
d) S Y
X
e) Any of these points
CONCEPT QUIZ (cont)
16) Consider two couples acting on a

body. The simplest possible
equivalent system at any arbitrary
point on the body will have
a) One force and one couple moment.

b) One force.
c) One couple moment.
d) Two couple moments.

CONCEPT QUIZ (cont)
17) Consider three couples acting on a

body. Equivalent systems will be
_______ at different points on the body.
a) Different when located
b) The same even when located
c) Zero when located

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Chapter Objectives

 To discuss the concept of the moment of a force and show

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1. Reading Quiz 8. Moment of a Couple

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1) What is the moment of the 10 N force about

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2) The moment of force F about point O is

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3) When determining the moment of a force

d) any line in 3-D space

e) any line in the x-y plane

4) The triple scalar product u • ( r  F )

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For each case, determine the moment of the force about

• Line of action is extended (a ) M o  (100 N )(2 m)  200 N .m(CW )

(b )M o  (50N )(0.75m )  37.5N.m(CW )

(c )M o  ( 40N )( 4m  2 cos 30  m )  229N.m(CW )

(d )M o  (60N )(1sin 45  m )  42.4N.m(CCW )

(e )M o  (7kN )(4m  1m )  21.0kN.m(CCW )

• Cross product of two vectors A and B yields C, which

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Cartesian Vector Formulation

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• Moment of force F about point O can be expressed

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Cartesian Vector Formulation

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Two forces act on the rod. Determine the resultant

• Also known as Varignon’s Theorem

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Determine the moment of the force about point O.

Since the force tends

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• Force will not contribute a moment

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Copyright © 2011 Pearson Education South Asia Pte Ltd

Determine the moment

Unit vector defines the direction of the AB axis of the rod

For simplicity, choose rD

Copyright © 2011 Pearson Education South Asia Pte Ltd

Copyright © 2011 Pearson Education South Asia Pte Ltd

Copyright © 2011 Pearson Education South Asia Pte Ltd

Copyright © 2011 Pearson Education South Asia Pte Ltd

Copyright © 2011 Pearson Education South Asia Pte Ltd

Determine the couple moment acting on the pipe.

Take moment about point O,

Take moment about point A

Take moment about point A or B,