Professional Documents
Culture Documents
Chapter 03
Chapter 03
F = 12 N
d=3m
• A
READING QUIZ (cont)
READING QUIZ (cont)
READING QUIZ (cont)
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
MOMENT OF A FORCE – SCALAR
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”
MOMENT OF A FORCE – SCALAR
FORMULATION (cont)
Resultant Moment
• Resultant moment, MRo = moments of all the forces
MRo = ∑Fd
EXAMPLE 1
• Tendency to rotate is
indicated and the orbit is
shown as a colored curl.
Solution
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
CROSS PRODUCT (cont)
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
CROSS PRODUCT (cont)
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
CROSS PRODUCT (cont)
i j k
A B Ax Ay Az
Bx By Bz
MOMENT OF A FORCE – VECTOR
FORMULATION
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
MOMENT OF A FORCE – VECTOR
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
MOMENT OF A FORCE – VECTOR
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
MOMENT OF A FORCE – VECTOR
FORMULATION (cont)
MO = (ryFz – rzFy)i
– (rxFz - rzFx)j + (rxFy – yFx)k
MOMENT OF A FORCE – VECTOR
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
Solution
Position vectors are directed from point O to each force
as shown.
These vectors are
rA 5 jm
rB 4i 5 j 2k m
MO = r X F
= r X (F1 + F2)
= r X F1 + r X F2
EXAMPLE 3
Solution
The moment arm d can be found by trigonometry
d 3sin 75 2.898 m
Thus,
M O Fd 52.898 14.5 kN m
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
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
The force is
F 300k N
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
MOMENT OF A COUPLE (cont)
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
MOMENT OF A COUPLE (cont)
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
MOMENT OF A COUPLE (cont)
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
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
Copyright © 2011 Pearson Education South Asia Pte Ltd
FURTHER SIMPLIFICATION OF A
FORCE AND COUPLE SYSTEM
FR F
FURTHER SIMPLIFICATION OF A
FORCE AND COUPLE SYSTEM (cont)
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
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
Solution
For magnitude of resultant force,
F
tan 1 Ry tan 1 2.60
FRx 3.25
38.7
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
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
S
R
P Q
CONCEPT QUIZ (cont)
CONCEPT QUIZ (cont)
10 N 5N
3m P 2m
CONCEPT QUIZ (cont)
CONCEPT QUIZ (cont)
CONCEPT QUIZ (cont)
CONCEPT QUIZ (cont)
CONCEPT QUIZ (cont)
CONCEPT QUIZ (cont)
F1
r1
r2
F2
CONCEPT QUIZ (cont)
CONCEPT QUIZ (cont)
CONCEPT QUIZ (cont)
CONCEPT QUIZ (cont)
Z
S
R
Q
P
Y
X
CONCEPT QUIZ (cont)
CONCEPT QUIZ (cont)