,G &$ru d M

',,: .;lt:.,,-

l;i::-.,:*, *j:'1.,;* : = l " ';.

g-i:: .;

,G &$ru d M
',,: .;lt:.,,-

l;i::-.,:*, *j:'1.,;* : = l " ';.

g-i:: .;

2. The i.ntem,al forcas are the forces which hold together the parforming the rigid body. If the rigid body is structurally ticles composedof severalparts, the forces holding the component partJ together are alsode{ined asinternal forces.Internal forces will be consideredin Chaps. 6 and 7. As an example of external forces, let us consider the forces acting on a disabled truck that three people are pulling forward by *"ans of a rope attachedto the front bumper (Fig. 3.1). The external forcesactingon the truck are shownin afree-bodydiagram (Fig. 3.2). Let us first consider rhe roeight of the truck. Although it embodies the eflect of tlre earths pull"on each of the particles Formingthe Fig. 3.1 truck, the weight can be represented by the single force W' The point of application of this force, i.e., the point at which the force acts, is de{ined as the center of graoity of the truck. It will be seen in Chap. 5 how centers of gravity can be determined. The weight W tends to make the truck move vertically downward. In fact, it would actuallycausethe truck to move downward,i.e., to fall, if it were not for the presenceof the ground. the ground opposesthe downward motion of the truck by means of the reactions R1 and R2. These forces are exerted by the ground on the truck and must therefore Fis.3.2 be included among the external forces acting on the truck. The people p"lling on the rope exeft the for"" F. The point of applicationof F is on the front bumper. The force F tends to make the truck move forward in a straight line and does actually make it this motion. (Rolling resistance move, sinceno externalforce opposes neglectedhere for simplicity.) This forward motion of the has been truck, during which each straight line keeps its original orientation (the floor of the truck remainshorizontal,and the walls remain vertical), is known as atranslation..Other forces might causethe truck to move differently. For example, the force exerted by a jack placed under the front axlewould causethe truck to pivot about its rear axle. Such a motion is a rotation It can be concluded,therefore, that each impart of the external forces acting on a rigid body can,if unopposed, to the rigid body a motion of translationor rotation, or both.

of 3.3 Principle Tronsmissibility. Forces Equivolenl

75

OF 3.3 PRINCIPLETRANSMISSIBITIW. FORCES EQUIVATENT

The pri.nciple of transmisslbllltg statesthat the conditions of equilibrium or motion of a rigid body will remain unchangedif a force F acting at a given point of the rigid body is replaced by a force F' of the samemagnitudeand samedirection,but actingat a different point, line of action (Fig. 3.3). proaidzd that the tuo forces haue the sam.e The two forces F and F' have the sameeffect on the rigid body and are said to be equir:alent.This principle, which statesthat the action along its line of action, is based on of a force may be transn'aitted experimental evidence. It cannot be derived from the properties esiablishedso far in this text and must therefore be acceptedas an experimentallaw. However,asyou will seein Sec,16.5,the principle_ of transmissibilitycan be derived from the study of the dlnamics of rigid bodies, bui this study requires the introduction of Newton's Fig. 3.3

2. The i.ntem,al forcas are the forces which hold together the parforming the rigid body. If the rigid body is structurally ticles composedof severalparts, the forces holding the component partJ together are alsode{ined asinternal forces.Internal forces will be consideredin Chaps. 6 and 7. As an example of external forces, let us consider the forces acting on a disabled truck that three people are pulling forward by *"ans of a rope attachedto the front bumper (Fig. 3.1). The external forcesactingon the truck are shownin afree-bodydiagram (Fig. 3.2). Let us first consider rhe roeight of the truck. Although it embodies the eflect of tlre earths pull"on each of the particles Formingthe Fig. 3.1 truck, the weight can be represented by the single force W' The point of application of this force, i.e., the point at which the force acts, is de{ined as the center of graoity of the truck. It will be seen in Chap. 5 how centers of gravity can be determined. The weight W tends to make the truck move vertically downward. In fact, it would actuallycausethe truck to move downward,i.e., to fall, if it were not for the presenceof the ground. the ground opposesthe downward motion of the truck by means of the reactions R1 and R2. These forces are exerted by the ground on the truck and must therefore Fis.3.2 be included among the external forces acting on the truck. The people p"lling on the rope exeft the for"" F. The point of applicationof F is on the front bumper. The force F tends to make the truck move forward in a straight line and does actually make it this motion. (Rolling resistance move, sinceno externalforce opposes neglectedhere for simplicity.) This forward motion of the has been truck, during which each straight line keeps its original orientation (the floor of the truck remainshorizontal,and the walls remain vertical), is known as atranslation..Other forces might causethe truck to move differently. For example, the force exerted by a jack placed under the front axlewould causethe truck to pivot about its rear axle. Such a motion is a rotation It can be concluded,therefore, that each impart of the external forces acting on a rigid body can,if unopposed, to the rigid body a motion of translationor rotation, or both.

of 3.3 Principle Tronsmissibility. Forces Equivolenl

75

OF 3.3 PRINCIPLETRANSMISSIBITIW. FORCES EQUIVATENT

The pri.nciple of transmisslbllltg statesthat the conditions of equilibrium or motion of a rigid body will remain unchangedif a force F acting at a given point of the rigid body is replaced by a force F' of the samemagnitudeand samedirection,but actingat a different point, line of action (Fig. 3.3). proaidzd that the tuo forces haue the sam.e The two forces F and F' have the sameeffect on the rigid body and are said to be equir:alent.This principle, which statesthat the action along its line of action, is based on of a force may be transn'aitted experimental evidence. It cannot be derived from the properties esiablishedso far in this text and must therefore be acceptedas an experimentallaw. However,asyou will seein Sec,16.5,the principle_ of transmissibilitycan be derived from the study of the dlnamics of rigid bodies, bui this study requires the introduction of Newton's Fig. 3.3

can be added according to the mles of Chap. 2, and, as these forces are equal and opposite, their sum is equal to zero. Thus, in terms of the eiternal behavior of the bar, the original system of forces shown

of 3.4 VectorProduct Two Vectors

77

to in Fig. 3.5ais equivalent no forceat"all(nig. S.5c).

Consider now the two equal and opposite forces P1 and P2 acting on the bar AB as shown in Fig. 3.5d. The force P2 can be replacedby a force Pj havingthe samemagnitude,the samedirection, and the sameline of actionbut actinqat B insteadof at A (Fie. 3.5e). The forcesP1and Pi can then be added.and their sum is ugiin ,"to (Fig. 3.5/). From the point of view of the mechanics rigid bodies, of the systemsshown in Fig. 3.5a and d are thus equivalent. But the intem.alforces and deformafionsproduced by the two systemsare clearly different. The bar of Fig. 3.5a is in tension and, if not absoIutely rigid, will increasein length slightly; the bar of Fig. 3.5d is in and, if not absolutelyrigid, will decreasein length compresision slightly.Thus, while the principle of transmissibilitymay be used freely to determine the conditions of motion or equilibrium of rigid bodiesand to computethe externalforcesactingon thesebodies,it or shouldbe avoided, at leastusedwith care,in determininginternal forces and deformations.

PRODUCT TWOVECTORS OF 3.4 VECTOR

of In order to gain a better understanding the effect of a force on a the conceptof a momentof a force about a rigid body,u ,re* "otr""pt, point, will be introducedat this time. This conceptwill be more clearly if understood,and appliedmore effectively, we first add to the mathematicaltools at our disposalthe aectorproduct of two vectors. The vector product of two vectors P and Q is defined as the vector V which satisffesthe following conditions. to l. The line of actionof V is perpendicular the plane containing P and Q (Fig. 3.6a). of 2. The magnitudeof V is the product of the magnitudes P and and of the sine of the angle g formed by P and Q (the meaQ sure of which will alwaysbe 180" or less);we thus have V:PQsin0

(3.r)

(a)

3. The direction of V is obtained from the rieht-hand de, Close your right hand and hold it so that yout lingers are curled in the samesenseas the rotation through 0 which brings the vector P in line with the vector Q; your thumb will then indicate the direction of the vector V (Fig. 3.6b). Note that if P and Q they should iirst Fiq.3.6 do not have a commonpoint of application, be redrawn from the samepoint. The three vectors P, Q, and V-taken in that order-are said to form a rieht-handed triad.I

t:
I (b)

iWe should note ihat the r, y, and : axes used in Chap. 2 forn-r a right-handed systerr of orthogonal a.xesand that the unit vectors i, j, k defined in Sec. 2.I2 lbrm a right-handed orthogonal triad.

can be added according to the mles of Chap. 2, and, as these forces are equal and opposite, their sum is equal to zero. Thus, in terms of the eiternal behavior of the bar, the original system of forces shown

of 3.4 VectorProduct Two Vectors

77

to in Fig. 3.5ais equivalent no forceat"all(nig. S.5c).

Consider now the two equal and opposite forces P1 and P2 acting on the bar AB as shown in Fig. 3.5d. The force P2 can be replacedby a force Pj havingthe samemagnitude,the samedirection, and the sameline of actionbut actinqat B insteadof at A (Fie. 3.5e). The forcesP1and Pi can then be added.and their sum is ugiin ,"to (Fig. 3.5/). From the point of view of the mechanics rigid bodies, of the systemsshown in Fig. 3.5a and d are thus equivalent. But the intem.alforces and deformafionsproduced by the two systemsare clearly different. The bar of Fig. 3.5a is in tension and, if not absoIutely rigid, will increasein length slightly; the bar of Fig. 3.5d is in and, if not absolutelyrigid, will decreasein length compresision slightly.Thus, while the principle of transmissibilitymay be used freely to determine the conditions of motion or equilibrium of rigid bodiesand to computethe externalforcesactingon thesebodies,it or shouldbe avoided, at leastusedwith care,in determininginternal forces and deformations.

PRODUCT TWOVECTORS OF 3.4 VECTOR

of In order to gain a better understanding the effect of a force on a the conceptof a momentof a force about a rigid body,u ,re* "otr""pt, point, will be introducedat this time. This conceptwill be more clearly if understood,and appliedmore effectively, we first add to the mathematicaltools at our disposalthe aectorproduct of two vectors. The vector product of two vectors P and Q is defined as the vector V which satisffesthe following conditions. to l. The line of actionof V is perpendicular the plane containing P and Q (Fig. 3.6a). of 2. The magnitudeof V is the product of the magnitudes P and and of the sine of the angle g formed by P and Q (the meaQ sure of which will alwaysbe 180" or less);we thus have V:PQsin0

(3.r)

(a)

3. The direction of V is obtained from the rieht-hand de, Close your right hand and hold it so that yout lingers are curled in the samesenseas the rotation through 0 which brings the vector P in line with the vector Q; your thumb will then indicate the direction of the vector V (Fig. 3.6b). Note that if P and Q they should iirst Fiq.3.6 do not have a commonpoint of application, be redrawn from the samepoint. The three vectors P, Q, and V-taken in that order-are said to form a rieht-handed triad.I

t:
I (b)

iWe should note ihat the r, y, and : axes used in Chap. 2 forn-r a right-handed systerr of orthogonal a.xesand that the unit vectors i, j, k defined in Sec. 2.I2 lbrm a right-handed orthogonal triad.

note that the left-hand member of Eq. (3.5) can be replaced by P x Q' and that, similarly,the vector products P x Qr and P x Qn can respectivelybe replaced by P x Qi and P x Qi. Thus, the relation to be proved can be written in the form

in Exoressed Terms 3.5 VectorProducts of Rectongulor Components

79

PxQ':PxQi+PxQi

(3.5')

We now observe that P x Q' can be obtained from Q' by multiplylng this vector by the scalarP and rotating it counterclockwise through 90" in the ar plane (Fig. 3.9b); the other two vector

,l

la)

Fis. 3.9 productsin (3.5') can be obtainedin the samemannerfrom Qi and Qi, respectively.Now, since the projection of a parallelogramonto an arbitrary plane is a parallelogram,the projection Q' of the sum Q of Qr and Q2 must be the sum of the projectionsQi and Qi of Q1 and Qz on the sameplane (Fig. 3.9a).This relationbetweenthe vectors Q', Qi, and Qi will still hold after the three vectors have been multiplied by the scalarP and rotated through 90' (Fig. 3.9b). Thus, the relation (3.5') has been proved, and we can now be sure that the distributive property holds for vector products. A third property, the associativeproperty, does not apply to vector products; we have in general

(PxQ) S+Px(QxS) x

(3.6) z
\a)

PRODUCTS EXPRESSEDTERMS IN 3.5 VECTOR OF RECTANGULAR COMPONENTS

Let us now determine the vector product of any two of the unit vectorsi, j, and k, which were de{inLd in Chap. 2. Consider first the product i x j (Fig. 3.10a). Since both vectors have a magnitude equal to I and since they are at a right angle to each other, their vector product will alsobe a unit vector. This unit vector must be k, rule given on page 77 that the product j x i will be equal to -k (Fig. 3.f0b). Finally, it should be observedthat the vector product

l(

(b)

Fis.3.lO

note that the left-hand member of Eq. (3.5) can be replaced by P x Q' and that, similarly,the vector products P x Qr and P x Qn can respectivelybe replaced by P x Qi and P x Qi. Thus, the relation to be proved can be written in the form

in Exoressed Terms 3.5 VectorProducts of Rectongulor Components

79

PxQ':PxQi+PxQi

(3.5')

We now observe that P x Q' can be obtained from Q' by multiplylng this vector by the scalarP and rotating it counterclockwise through 90" in the ar plane (Fig. 3.9b); the other two vector

,l

la)

Fis. 3.9 productsin (3.5') can be obtainedin the samemannerfrom Qi and Qi, respectively.Now, since the projection of a parallelogramonto an arbitrary plane is a parallelogram,the projection Q' of the sum Q of Qr and Q2 must be the sum of the projectionsQi and Qi of Q1 and Qz on the sameplane (Fig. 3.9a).This relationbetweenthe vectors Q', Qi, and Qi will still hold after the three vectors have been multiplied by the scalarP and rotated through 90' (Fig. 3.9b). Thus, the relation (3.5') has been proved, and we can now be sure that the distributive property holds for vector products. A third property, the associativeproperty, does not apply to vector products; we have in general

(PxQ) S+Px(QxS) x

(3.6) z
\a)

PRODUCTS EXPRESSEDTERMS IN 3.5 VECTOR OF RECTANGULAR COMPONENTS

Let us now determine the vector product of any two of the unit vectorsi, j, and k, which were de{inLd in Chap. 2. Consider first the product i x j (Fig. 3.10a). Since both vectors have a magnitude equal to I and since they are at a right angle to each other, their vector product will alsobe a unit vector. This unit vector must be k, rule given on page 77 that the product j x i will be equal to -k (Fig. 3.f0b). Finally, it should be observedthat the vector product

l(

(b)

Fis.3.lO

3.6 MOMENT A FORCE OF ABOUT POINT A

Let us now considera force F actingon a rigid body (Fig. 3.12a).As we by know,the force F is represented a vectorwhich definesits magnitude the anddirection.However, effectof the force on the rigid body depends also upon its point of applicationA. The position of A can be conveniently defined by the vector r which joins the ffxed referencepoint O with A; this vector is known as the position aector of A. t The position vector r and the force F deiine the plane shownin Fig. 3.72a. We will define the mom.ent F about O as the vector producr of of r and F: Mo:rXF (3.11)

3.6 Momenfof o Forceobout o Point

8l

Accordingto the de{initionof the vectorproduct givenin Sec.3.4, the moment Mp must be pelpendicularto the plane containingO and the force F. The senseof Me is defined by the senseof the rotation which will bring the vector r in line with the vector F; this rotation will be observedas counterclockuise an observerlocated at the tip of by Me. Anotherway of de{iningthe sense Me is furnishedby a variation of of the right-hand rule: Closeyour right hand and hold it so that your fingers are curled in the senseof the rotation that F would impart to ttrJrigra body abouta fr-xed directedalongthe line of actionbf Uo, F i g . 3 . 1 2 axis your thumb will indicatethe senseof the moment Me (Fig. 3.12b). Finally, denoting by 0 the angle between the lines of action of the position vector r and the force F, we find that the magnitude of the moment of F about O is Ms: rF sin? : Fd

la)

,-t
(b)

(3.r2)

where d represents the pelpendicular distance from O to the line of action of F. Since the tendency of a force F to make a rigid body rotate about a fixed aris pelpendicular to the force depends upon the distance of F from that axis as well as upon the magnitude of F, we note that the magnitude of M6 measures the tendency of the force F to make the rigid bod:t1rotate about a fixed axis directed alongMs. In the SI system of units, where a force is expressedin newtons (N) and a distance in meters (m), the moment of a force is expressed in newton-meters (N ' m). In the U.S. customary system of units, where a force is erpressed in pounds and a distance in feet or inches, the moment of a force is ermressedin lb . ft or lb . ln. We can observe that although the moment M6 of a force about a point depends upon the *ugt-tit.rd". the line of action, and the sense of the force, it does nof depend upon the actual position of the point of application of the force along its line of action. Conversely, the moment Me of a force F does not characterize the position of the point of application of F.
lWe can easily verify that position vectors obey the law of vector addition and, thus, are trrly vectors. Consider, for example, the position vectors r and r' ofA with respect to two reference points O and O' and the position vector s of O with respect to O' (Fig. 3.40a, Sec. 3.16). We verifz that the position vector r' : O'A can be obtained from the position vectors s = Oj 6 and , = Oi by applying the triangle rule for the addition ofvectors.

3.6 MOMENT A FORCE OF ABOUT POINT A

Let us now considera force F actingon a rigid body (Fig. 3.12a).As we by know,the force F is represented a vectorwhich definesits magnitude the anddirection.However, effectof the force on the rigid body depends also upon its point of applicationA. The position of A can be conveniently defined by the vector r which joins the ffxed referencepoint O with A; this vector is known as the position aector of A. t The position vector r and the force F deiine the plane shownin Fig. 3.72a. We will define the mom.ent F about O as the vector producr of of r and F: Mo:rXF (3.11)

3.6 Momenfof o Forceobout o Point

8l

Accordingto the de{initionof the vectorproduct givenin Sec.3.4, the moment Mp must be pelpendicularto the plane containingO and the force F. The senseof Me is defined by the senseof the rotation which will bring the vector r in line with the vector F; this rotation will be observedas counterclockuise an observerlocated at the tip of by Me. Anotherway of de{iningthe sense Me is furnishedby a variation of of the right-hand rule: Closeyour right hand and hold it so that your fingers are curled in the senseof the rotation that F would impart to ttrJrigra body abouta fr-xed directedalongthe line of actionbf Uo, F i g . 3 . 1 2 axis your thumb will indicatethe senseof the moment Me (Fig. 3.12b). Finally, denoting by 0 the angle between the lines of action of the position vector r and the force F, we find that the magnitude of the moment of F about O is Ms: rF sin? : Fd

la)

,-t
(b)

(3.r2)

where d represents the pelpendicular distance from O to the line of action of F. Since the tendency of a force F to make a rigid body rotate about a fixed aris pelpendicular to the force depends upon the distance of F from that axis as well as upon the magnitude of F, we note that the magnitude of M6 measures the tendency of the force F to make the rigid bod:t1rotate about a fixed axis directed alongMs. In the SI system of units, where a force is expressedin newtons (N) and a distance in meters (m), the moment of a force is expressed in newton-meters (N ' m). In the U.S. customary system of units, where a force is erpressed in pounds and a distance in feet or inches, the moment of a force is ermressedin lb . ft or lb . ln. We can observe that although the moment M6 of a force about a point depends upon the *ugt-tit.rd". the line of action, and the sense of the force, it does nof depend upon the actual position of the point of application of the force along its line of action. Conversely, the moment Me of a force F does not characterize the position of the point of application of F.
lWe can easily verify that position vectors obey the law of vector addition and, thus, are trrly vectors. Consider, for example, the position vectors r and r' ofA with respect to two reference points O and O' and the position vector s of O with respect to O' (Fig. 3.40a, Sec. 3.16). We verifz that the position vector r' : O'A can be obtained from the position vectors s = Oj 6 and , = Oi by applying the triangle rule for the addition ofvectors.

THEOREM 3.7 VARIGNON'S

The distributive property of vector products can be used to determine the moment of the resultant of several concurrentforces. Il forcesF1, F2, . , . are appliedat the samepoint A (Fig. 3.1a), several if we denote by r the position vector of A, it follows immediately and from Eq. (3.5)of Sec.3.4 that r x ( F 1+ F 2 + " ' ) : r X F 1 * r x F 2 * (3.14)

3.8 Rectongulor of Components the Momenl of o Force

83

about a gi.oen In words,the mom.ent point O of the resultantof seaeral conanrrentforces is equal to the sum of the mamentsof the aarious the same point O. This property, whlch was originally forces abcvut z by established the French mathematicianVarignon (1654-1722)long before the introduction of vector algebra, is known as Yarignon's Fis.3.14 theorem. The relation (3.14)makesit possibleto replacethe direct determination of the moment of a force F by the determination of the moments of two or more comDonentforces. As vou will see in the into components F Le parallel next section, \rill generally resolued However,it may be more expeditiousin some to the coordinatea,xes. instancesto resolveF into componentswhich are not parallel to the coordinateaxes(seeSampleProb. 3.3).

MOMENT COMPONENTS THE OF 3.8 RECTANGULAR A FORCE OF

In general, the determination of the moment of a force in space will be considerably simplified if the force and the position vector of its point of application are resolved into rectangular r, y, and a components. Consider, for example, the moment M6 about O of a force F whose components are F*, Fo, and F" and whlch is applied at a point A of coordinates r, !, and z (Fig, 3.15). Observing that the components of the position vector r are respectively equal to the coordinates r, y, and z of the point A, we write

r:ri+yj+zk F:F,i+Fyj+F,k for Substituting r and F from (3.15)and (3.16)into

M O : r X F

(3.15) (3.r6)
z

(3.u)

F i g .3 . 1 5

and recalling the results obtained in Sec. 3.5, we write the moment Me of F about O in the form

Mo:M,i+Mvj+M"k

(3.17)

where the components M,, M* and M" are defined by the relations

M, : UF^- zFv Mv : zFx - xFz M" : xF, _ yF,

(3.r8)

THEOREM 3.7 VARIGNON'S

The distributive property of vector products can be used to determine the moment of the resultant of several concurrentforces. Il forcesF1, F2, . , . are appliedat the samepoint A (Fig. 3.1a), several if we denote by r the position vector of A, it follows immediately and from Eq. (3.5)of Sec.3.4 that r x ( F 1+ F 2 + " ' ) : r X F 1 * r x F 2 * (3.14)

3.8 Rectongulor of Components the Momenl of o Force

83

about a gi.oen In words,the mom.ent point O of the resultantof seaeral conanrrentforces is equal to the sum of the mamentsof the aarious the same point O. This property, whlch was originally forces abcvut z by established the French mathematicianVarignon (1654-1722)long before the introduction of vector algebra, is known as Yarignon's Fis.3.14 theorem. The relation (3.14)makesit possibleto replacethe direct determination of the moment of a force F by the determination of the moments of two or more comDonentforces. As vou will see in the into components F Le parallel next section, \rill generally resolued However,it may be more expeditiousin some to the coordinatea,xes. instancesto resolveF into componentswhich are not parallel to the coordinateaxes(seeSampleProb. 3.3).

MOMENT COMPONENTS THE OF 3.8 RECTANGULAR A FORCE OF

In general, the determination of the moment of a force in space will be considerably simplified if the force and the position vector of its point of application are resolved into rectangular r, y, and a components. Consider, for example, the moment M6 about O of a force F whose components are F*, Fo, and F" and whlch is applied at a point A of coordinates r, !, and z (Fig, 3.15). Observing that the components of the position vector r are respectively equal to the coordinates r, y, and z of the point A, we write

r:ri+yj+zk F:F,i+Fyj+F,k for Substituting r and F from (3.15)and (3.16)into

M O : r X F

(3.15) (3.r6)
z

(3.u)

F i g .3 . 1 5

and recalling the results obtained in Sec. 3.5, we write the moment Me of F about O in the form

Mo:M,i+Mvj+M"k

(3.17)

where the components M,, M* and M" are defined by the relations

M, : UF^- zFv Mv : zFx - xFz M" : xF, _ yF,

(3.r8)

pROSLrt$3.I sAlvtPLE
A 1001bvertical force is applied to the end of a lever which is attachedto a shaft at O. Determine (a) the moment of the 1001bforce about O; (b) tlie horizontal force applied at A which createsthe samemoment about O; (c) the smallest force applied at A which createsthe samemoment about O; (d) how far from the shaft a240-Ibvertical force must act to createthe samemoment about O; (e) whether any one of the forcesobtainedin partsb, c, andd is equivalentto the oriqinalforce.

s(}LUTroru
$. fltarflent cbout 0. The perpendicular distance from O to the line of action ol the 100-lb force is d : (24 in.) cos 60" : 12 in. The magnitude of the moment about O of the 1001b force is Mo : Fd: (100lbXr2 in.) : 12oolb ' in.

Since the force tends to rotate the lever clockvise about O, the moment will be representedby a vector M6 perpendicularto the plane of the figure and pointing into the paper. We expressthis fact by writing bIo : l2l]0 llr ' i1. / ';': &- lisrizanfal Force" In this case,we have d : (24 in.) sin 60" : 20.8 in. Since the moment about O must be 1200 lb ' in., we write Mo: FcJ 1200lb ' in. : F(20.8in.) F : 57.7lb

E * ,17,7lb *+

'.i

e. $malle*t Forc*. Since Mp : Fd, the smallestvalue of F occurs when d is maximum. We choose tl-re force perpendicular to OA and note that d : 2a in.; thus Mo : F d 1200 lb ' in. = F(24 in,)
: Dt, lb

F = 5(l lir =d3i)-

-Fl

,/f,/$tun,

'E
!

B /!.i

ftf t'/ i

6{d lt!

d- ?40-lb' V*rticEl force. but

In this caseM6 : Pd yields d. : 5 in. 0S : ttl in. '.1:

1200 lb . in. : (240 tb)d OB cos 60" : cl

nr.,1l = ' I o i't/ffo'i, P --'l i \ F-d

iit'

e. None of the forces consideredin parts b, c, and d is equivalent to the original 1001b force. Although they have the same moment about O, they have different r and y components. In other words, although each force tends to rotate the shaft in the same manner, each causesthe lever to pull on the shaft in a dilferent way.

85

pROSLrt$3.I sAlvtPLE
A 1001bvertical force is applied to the end of a lever which is attachedto a shaft at O. Determine (a) the moment of the 1001bforce about O; (b) tlie horizontal force applied at A which createsthe samemoment about O; (c) the smallest force applied at A which createsthe samemoment about O; (d) how far from the shaft a240-Ibvertical force must act to createthe samemoment about O; (e) whether any one of the forcesobtainedin partsb, c, andd is equivalentto the oriqinalforce.

s(}LUTroru
$. fltarflent cbout 0. The perpendicular distance from O to the line of action ol the 100-lb force is d : (24 in.) cos 60" : 12 in. The magnitude of the moment about O of the 1001b force is Mo : Fd: (100lbXr2 in.) : 12oolb ' in.

Since the force tends to rotate the lever clockvise about O, the moment will be representedby a vector M6 perpendicularto the plane of the figure and pointing into the paper. We expressthis fact by writing bIo : l2l]0 llr ' i1. / ';': &- lisrizanfal Force" In this case,we have d : (24 in.) sin 60" : 20.8 in. Since the moment about O must be 1200 lb ' in., we write Mo: FcJ 1200lb ' in. : F(20.8in.) F : 57.7lb

E * ,17,7lb *+

'.i

e. $malle*t Forc*. Since Mp : Fd, the smallestvalue of F occurs when d is maximum. We choose tl-re force perpendicular to OA and note that d : 2a in.; thus Mo : F d 1200 lb ' in. = F(24 in,)
: Dt, lb

F = 5(l lir =d3i)-

-Fl

,/f,/$tun,

'E
!

B /!.i

ftf t'/ i

6{d lt!

d- ?40-lb' V*rticEl force. but

In this caseM6 : Pd yields d. : 5 in. 0S : ttl in. '.1:

1200 lb . in. : (240 tb)d OB cos 60" : cl

nr.,1l = ' I o i't/ffo'i, P --'l i \ F-d

iit'

e. None of the forces consideredin parts b, c, and d is equivalent to the original 1001b force. Although they have the same moment about O, they have different r and y components. In other words, although each force tends to rotate the shaft in the same manner, each causesthe lever to pull on the shaft in a dilferent way.

85

PROB[f;fiiI3.4 SA'YTPLE
A rectangular by plateis suppofied brackets A andB andby a wire CD. at
Knowing that the tension in the wire is 200 N, determine the moment about A of the force exerted by the wire on point C.

50r"uflsF{
The moment Ma about A of the force F exerted by the wire on point C is obtained by forming the vector product
Ma:166XF where r67a is the vector drawn from A to C,

{1}

,",o: Ed : (0.3m)i + (0,08 m)k

i:)

and F is the 200-N force directedalongCD. Introducingthe unit vector It: citcn, we write
x.

F : F,I : (200N) cD

Cts

t3i

components, have we Resolving vectorC-d into rectangular the c n : - ( 0 . 3 m ) i+ ( 0 . 2 4 m ) j ( 0 . 3 2 m ) k c D : 0 . 5 0 m into Substituting (3), we obtain : 200N . m)i - (0.32 m)k] [-(0.3 m)i + (0.24 " -(1 : ";fr 2 0 N ) i + ( e 6N ) j - ( 1 2 8 ) k N

(28.8 N'n)j

r4j for the Substituting ra^ andF from (2) and (4) into (1) andrecalling (3.7)of Sec. we obtain 3.5, relations x x Ma: 1616 F: (0.3i+ 0.08k) (-120i + 96j - l28k) : (0.3xe6)k (0.3x-128x-j) + (0.08)(-120)j (0.08)(e6x-i) + + } M , r : - i 7 . 6 8 f " r r i ) i + i ! E . 8 N . m X+ i 2 8 . 8 h i . i n ) k " . Alternafive SalufiE*. As indicatedin Sec.3.8, the momentMa can be
expressedin the form of a determinant:

( 2 b . 8N . m l k

: M,1

-t a r lx1

j
F , r

k
F "

k l
0.08 -128 | I

Ac-Ae zc-:ol:

0.3 0 -120 96 l

M . { : - ( 7 . 6 S N ' r n ) i + ( 2 6 . 8 N . n i ) j+ { 2 E . 8 N . n r ) k . ; i ; a

87

PROB[f;fiiI3.4 SA'YTPLE
A rectangular by plateis suppofied brackets A andB andby a wire CD. at
Knowing that the tension in the wire is 200 N, determine the moment about A of the force exerted by the wire on point C.

50r"uflsF{
The moment Ma about A of the force F exerted by the wire on point C is obtained by forming the vector product
Ma:166XF where r67a is the vector drawn from A to C,

{1}

,",o: Ed : (0.3m)i + (0,08 m)k

i:)

and F is the 200-N force directedalongCD. Introducingthe unit vector It: citcn, we write
x.

F : F,I : (200N) cD

Cts

t3i

components, have we Resolving vectorC-d into rectangular the c n : - ( 0 . 3 m ) i+ ( 0 . 2 4 m ) j ( 0 . 3 2 m ) k c D : 0 . 5 0 m into Substituting (3), we obtain : 200N . m)i - (0.32 m)k] [-(0.3 m)i + (0.24 " -(1 : ";fr 2 0 N ) i + ( e 6N ) j - ( 1 2 8 ) k N

(28.8 N'n)j

r4j for the Substituting ra^ andF from (2) and (4) into (1) andrecalling (3.7)of Sec. we obtain 3.5, relations x x Ma: 1616 F: (0.3i+ 0.08k) (-120i + 96j - l28k) : (0.3xe6)k (0.3x-128x-j) + (0.08)(-120)j (0.08)(e6x-i) + + } M , r : - i 7 . 6 8 f " r r i ) i + i ! E . 8 N . m X+ i 2 8 . 8 h i . i n ) k " . Alternafive SalufiE*. As indicatedin Sec.3.8, the momentMa can be
expressedin the form of a determinant:

( 2 b . 8N . m l k

: M,1

-t a r lx1

j
F , r

k
F "

k l
0.08 -128 | I

Ac-Ae zc-:ol:

0.3 0 -120 96 l

M . { : - ( 7 . 6 S N ' r n ) i + ( 2 6 . 8 N . n i ) j+ { 2 E . 8 N . n r ) k . ; i ; a

87

3"r A foot valve for a pneumatic systemis hinged at B. Knowing that

d. : 28o, determine the moment of the l6-N force about point B by resolving the force into horizontal and vertical compon;nts.

3"? A foot valve for a pneumatic systemis hinged at B. Knowing that

a : 28o,determine the moment of the 16-N force about point B by resolvingthe force into componentsalong ABC arrdin a direction perpendicular ABC. to

3.3 A 300-N force is applied at A as shown.Determine (a) the moment

of the 300-N force about D, (b) the smallest force applied at B that createsthe samemoment about D.

Fig. P3.I ond P3.2

125 mm

{
C B

I I

Fig. P3.3 ond P3.4 3-4 A 300-N forceis appliedat A asshown.Determine(a) the moment of the 300-N force about D, (b) the magnitude and senseof the horizontal force applied at C that createsthe same moment about D, (c) the smallestforce applied at C that createsthe samemoment about D. 3,5 An 8lb force P is applied to a shift lever. Determine the moment of P about B when a is equal to 25o. 3.8 For the shift lever shown, determine the magnitude and the direction of the smallestforce P that has a 2101b . in. cloclovisemoment about B. 3.7 An l1-lb force P is applied to a shift lever. The moment of P about B is clocloviseand has a masnitude of 250 Ib . in. Determine the value of a. 3"* It is known that a vertical force of 200 lb is recuired to remove the nail at C from the board. As the nail first starts rroving, determine (a) the moment about B of the force exerled on the nail, (b) the magnitude of the force P that createsthe same moment about B if a : 10". (c) the smallest force P that creates the same moment about B. Fig. P3.8

Fig. P3.5, P3.6, snd P3.7

3"r A foot valve for a pneumatic systemis hinged at B. Knowing that

d. : 28o, determine the moment of the l6-N force about point B by resolving the force into horizontal and vertical compon;nts.

3"? A foot valve for a pneumatic systemis hinged at B. Knowing that

a : 28o,determine the moment of the 16-N force about point B by resolvingthe force into componentsalong ABC arrdin a direction perpendicular ABC. to

3.3 A 300-N force is applied at A as shown.Determine (a) the moment

of the 300-N force about D, (b) the smallest force applied at B that createsthe samemoment about D.

Fig. P3.I ond P3.2

125 mm

{
C B

I I

Fig. P3.3 ond P3.4 3-4 A 300-N forceis appliedat A asshown.Determine(a) the moment of the 300-N force about D, (b) the magnitude and senseof the horizontal force applied at C that createsthe same moment about D, (c) the smallestforce applied at C that createsthe samemoment about D. 3,5 An 8lb force P is applied to a shift lever. Determine the moment of P about B when a is equal to 25o. 3.8 For the shift lever shown, determine the magnitude and the direction of the smallestforce P that has a 2101b . in. cloclovisemoment about B. 3.7 An l1-lb force P is applied to a shift lever. The moment of P about B is clocloviseand has a masnitude of 250 Ib . in. Determine the value of a. 3"* It is known that a vertical force of 200 lb is recuired to remove the nail at C from the board. As the nail first starts rroving, determine (a) the moment about B of the force exerled on the nail, (b) the magnitude of the force P that createsthe same moment about B if a : 10". (c) the smallest force P that creates the same moment about B. Fig. P3.8

Fig. P3.5, P3.6, snd P3.7

3.14 A mechanicuses a piece of pipe AB as a lever when tightening an alternator belt. When he pushes down at A, a force of 485 N is exertedon the alternatorat B. Determine the moment of that force about bolt C if its line of action passes through O.

9l

120mm

Fig. P3.14

x 3 . f 5 F o r m t h e v e c t o r p r o d u c t s BC a n d B ' X C , w h e r e : B ' , a n d B use the results obtained to prove the identity s i n a c o s B : j s i n( a + 9 1 + j s i n( a - B ) . 3.f6 A line passes throughthe points (20 m, 16 m) and (-1 m, -4 m). Determine the perpendiculardistanced from the line to the origin O of the systemof coordinates.

3.17 The vectorsP and Q are two adjacent sidesof a parallelogram. Determine the area of the parallelogram when (a) P : -7i + 3j - 3k andg : 2i + 2j+ 5k, (b) P : 6i - 5j - 2kandQ : -2i + 5j-k. 3,tg A plane contains the vectors A and B. Determine the unit vector normal to the plane when A and B are equal to, respectively, (a) i + 2j - Skand 4i - 7j - lk,(b) 3i - 3j + 2k and -2i * 6j - 4k.

Fig. P3.15

3.19 Determine the moment about the oriein O of the force F : 4i + 5j - 3k that acts at a point A. Assurnethat the position vector of A is (a) r : 2i - 3j + 4k, (b) : 2i + 2.5j - 1.5k, (c) r : 2i + " 5j + 6k. 3,2O Determine the moment about the origin O of the force F = -Asurn" -2i + 3j + 5k that acts at a point A. that the position vectorof A is (a) r : i * j + k, (b), :2i + 3j - 5k, (c) r : -4i+6j+10k. 3.21 A 200-N force is applied as shown to the bracketABC. Determine t]le moment of the force about A.

Fig. P3.21

3.14 A mechanicuses a piece of pipe AB as a lever when tightening an alternator belt. When he pushes down at A, a force of 485 N is exertedon the alternatorat B. Determine the moment of that force about bolt C if its line of action passes through O.

9l

120mm

Fig. P3.14

x 3 . f 5 F o r m t h e v e c t o r p r o d u c t s BC a n d B ' X C , w h e r e : B ' , a n d B use the results obtained to prove the identity s i n a c o s B : j s i n( a + 9 1 + j s i n( a - B ) . 3.f6 A line passes throughthe points (20 m, 16 m) and (-1 m, -4 m). Determine the perpendiculardistanced from the line to the origin O of the systemof coordinates.

3.17 The vectorsP and Q are two adjacent sidesof a parallelogram. Determine the area of the parallelogram when (a) P : -7i + 3j - 3k andg : 2i + 2j+ 5k, (b) P : 6i - 5j - 2kandQ : -2i + 5j-k. 3,tg A plane contains the vectors A and B. Determine the unit vector normal to the plane when A and B are equal to, respectively, (a) i + 2j - Skand 4i - 7j - lk,(b) 3i - 3j + 2k and -2i * 6j - 4k.

Fig. P3.15

3.19 Determine the moment about the oriein O of the force F : 4i + 5j - 3k that acts at a point A. Assurnethat the position vector of A is (a) r : 2i - 3j + 4k, (b) : 2i + 2.5j - 1.5k, (c) r : 2i + " 5j + 6k. 3,2O Determine the moment about the origin O of the force F = -Asurn" -2i + 3j + 5k that acts at a point A. that the position vectorof A is (a) r : i * j + k, (b), :2i + 3j - 5k, (c) r : -4i+6j+10k. 3.21 A 200-N force is applied as shown to the bracketABC. Determine t]le moment of the force about A.

Fig. P3.21

3.26

A small boat hangs from two davits, one of which is shown in the

figure.The tension line ABAD is 82 lb. Determine moment in the aboutC of the resultant forceRo exerted the davitat A. on

93

Fig. P3.26 3.27 3.28 In Prob. 3.22, determine the pelpendicular distancefrom point O to cableAB. In Prob.3.22, determine the pelpendicular distancefrom point O to cableBC.

3.29 InProb.3.24, determine the perpendicular distancefrom point D to a line drawn through points A and B. 3.3O In Prob. 3.24, determine the perpendicular distancefrom point C to a line drawn through points A and B. 3.31 In Prob. 3.25, determine the pelpendicular distancefrom point A to portion DE of cableDEF. 3.32 3.33 3.34 In Prob. 3.25, determine the perpendicular distancefrom point A to a line drawn through points C and G. In Prob. 3.26, determine the perpendicular distancefrom point C to portion AD of the line ABAD. Determine the value of a that minimizes the perpendicular distance from point C to a section of pipeline that passesthrough ooints A and B.

Fis. P3.34

3.26

A small boat hangs from two davits, one of which is shown in the

figure.The tension line ABAD is 82 lb. Determine moment in the aboutC of the resultant forceRo exerted the davitat A. on

93

Fig. P3.26 3.27 3.28 In Prob. 3.22, determine the pelpendicular distancefrom point O to cableAB. In Prob.3.22, determine the pelpendicular distancefrom point O to cableBC.

3.29 InProb.3.24, determine the perpendicular distancefrom point D to a line drawn through points A and B. 3.3O In Prob. 3.24, determine the perpendicular distancefrom point C to a line drawn through points A and B. 3.31 In Prob. 3.25, determine the pelpendicular distancefrom point A to portion DE of cableDEF. 3.32 3.33 3.34 In Prob. 3.25, determine the perpendicular distancefrom point A to a line drawn through points C and G. In Prob. 3.26, determine the perpendicular distancefrom point C to portion AD of the line ABAD. Determine the value of a that minimizes the perpendicular distance from point C to a section of pipeline that passesthrough ooints A and B.

Fis. P3.34

definition of the scalarproduct it follows that the scalarproducts of the unit vectors are either zero or one.

3.9 Scolor Productof Two Vectors

95

i . i : i ; . i ' j : 0

j . j : 1 j . k : 0

k . k : I k . i : 0

(3.2e)

Thus,the expression obtained P . Q reduces for to

, P;',:.E.,f*;. *-,,ffi,1 f.18a'

In the particular casewhen P and Q are equal, we note that

(3.30)

P.P: ri + rl + P!: pz

(3.31)

Appliccfions
l. Angleformed by tuo giaen oectors. Let two vectors be given in terms of their components: P:P"i+Psi+P"k

Q: Q"i+ Qai+ Q"k

To determine the angle formed by the two vectors,we equate the expressions obtained in (3.24) and (3.30) for their scalar product and write PQ cos 0 : P,Q, + PaQa* P,Q" Solving for cos 0, we have

P,Q,rPvQa+P^Q^
cos0:

PQ

(3.32)

2. Projecti,onof a oector on a gi,oenaxi,s. Consider a vector P

forming an angle 0 with an axis, or directed line, OL (Fig. 3.21). The projection of P on the axi.sOL is defined as the scalar Fig. 3.2r Por,:Pcos0 (3.33) We note that the projection Pe1 is equal in absolute value to the length of the segmentOA; it will be positive if OA has the same senseas the axis OL, that is, if 0 is acute, and negative otherwise. If P and OL are at a right angle, the projection of P on OL is zero. Consider now a vector Q directed along OL and of the same senseas OL (Fig. 3.22). The scalarproduct of P and Q can be expressed as P .Q: P Q c o s0 : P o r Q

definition of the scalarproduct it follows that the scalarproducts of the unit vectors are either zero or one.

3.9 Scolor Productof Two Vectors

95

i . i : i ; . i ' j : 0

j . j : 1 j . k : 0

k . k : I k . i : 0

(3.2e)

Thus,the expression obtained P . Q reduces for to

, P;',:.E.,f*;. *-,,ffi,1 f.18a'

In the particular casewhen P and Q are equal, we note that

(3.30)

P.P: ri + rl + P!: pz

(3.31)

Appliccfions
l. Angleformed by tuo giaen oectors. Let two vectors be given in terms of their components: P:P"i+Psi+P"k

Q: Q"i+ Qai+ Q"k

To determine the angle formed by the two vectors,we equate the expressions obtained in (3.24) and (3.30) for their scalar product and write PQ cos 0 : P,Q, + PaQa* P,Q" Solving for cos 0, we have

P,Q,rPvQa+P^Q^
cos0:

PQ

(3.32)

2. Projecti,onof a oector on a gi,oenaxi,s. Consider a vector P

forming an angle 0 with an axis, or directed line, OL (Fig. 3.21). The projection of P on the axi.sOL is defined as the scalar Fig. 3.2r Por,:Pcos0 (3.33) We note that the projection Pe1 is equal in absolute value to the length of the segmentOA; it will be positive if OA has the same senseas the axis OL, that is, if 0 is acute, and negative otherwise. If P and OL are at a right angle, the projection of P on OL is zero. Consider now a vector Q directed along OL and of the same senseas OL (Fig. 3.22). The scalarproduct of P and Q can be expressed as P .Q: P Q c o s0 : P o r Q

tip of Sl. The mixed triple product will be zero if S, P, and Q are coplanar. Since the parallelepipeddefined in the preceding paragraphis independent of the order in which the three vectors are taken, the six mixed triple products which can be formed with S, P, and Q *ill all have the same absolutevalue, although not the same sign. It is easily shown that s.(P x Q): p.(Q x s): Q.(s x P)

3.1 I Momentof o Forceobout o Given Axis

97

: - S . ( Q x P )- - P . ( Sx e ) : - e . ( p x S ) (3.3e)

Arranging in a circle and in counterclockwiseorder the letters representingthe three vectors(Fig. 3.26),we observethat the sign of the mixed triple product remains unchangedif the vectors are permuted in such a way that they are still read in counterclockwise order. Such a permutation is said to be a ci,rcular permutation. It also folloys from Eq. (3.39)and from the commutaiiveproperty of scalarproducts that the mlred triple product of S, P, and Q can be defined equallywell as S . (P x Q) or (S x P) . Q. The mixed triple product of the vectors S, P, and Q can be expressed terms of the rectangular in components thesevectors. of DenotingP x Q by V and using formula (3.30)to express scalar the product of S and V, we write S . ( P x Q ) : S . V : S " V ,+ S u V y S = V , + Substitutingfrom the relations(3.9) for the cornponents V, we of obtain s . (p x Q) : s,(pyQ.- p,Q) + sy(p.p, _ p,Q^) + s.(P.gv - PrQ") (3.40) This expression be written in a more compactform if we observe can that it representsthe expansionof a determinant:

a'\/ v'
Fig.3.26

lsS . ( P x Q )=

lp, Qv

l;" P.,
J

),,

p;l

P-,1

s,l

(3.41)

By applying the rules goveming the permutation of rows in a determinant, we could easilyverify the relations (3.39)whlch were derived earlier from geometricalconsiderations.

3.I I

MOMENT A FORCE OF ABOUT GIVEN AXIS A

Now that we have further increasedour knowledge of vector algebra, we can introduce a new concept,the concept of moment of a force about an axis. Consider again a force F acting on a rigid body and the moment M6 of that force about O (Fie. 3.27). Let OL be

Fig.3.27

tip of Sl. The mixed triple product will be zero if S, P, and Q are coplanar. Since the parallelepipeddefined in the preceding paragraphis independent of the order in which the three vectors are taken, the six mixed triple products which can be formed with S, P, and Q *ill all have the same absolutevalue, although not the same sign. It is easily shown that s.(P x Q): p.(Q x s): Q.(s x P)

3.1 I Momentof o Forceobout o Given Axis

97

: - S . ( Q x P )- - P . ( Sx e ) : - e . ( p x S ) (3.3e)

Arranging in a circle and in counterclockwiseorder the letters representingthe three vectors(Fig. 3.26),we observethat the sign of the mixed triple product remains unchangedif the vectors are permuted in such a way that they are still read in counterclockwise order. Such a permutation is said to be a ci,rcular permutation. It also folloys from Eq. (3.39)and from the commutaiiveproperty of scalarproducts that the mlred triple product of S, P, and Q can be defined equallywell as S . (P x Q) or (S x P) . Q. The mixed triple product of the vectors S, P, and Q can be expressed terms of the rectangular in components thesevectors. of DenotingP x Q by V and using formula (3.30)to express scalar the product of S and V, we write S . ( P x Q ) : S . V : S " V ,+ S u V y S = V , + Substitutingfrom the relations(3.9) for the cornponents V, we of obtain s . (p x Q) : s,(pyQ.- p,Q) + sy(p.p, _ p,Q^) + s.(P.gv - PrQ") (3.40) This expression be written in a more compactform if we observe can that it representsthe expansionof a determinant:

a'\/ v'
Fig.3.26

lsS . ( P x Q )=

lp, Qv

l;" P.,
J

),,

p;l

P-,1

s,l

(3.41)

By applying the rules goveming the permutation of rows in a determinant, we could easilyverify the relations (3.39)whlch were derived earlier from geometricalconsiderations.

3.I I

MOMENT A FORCE OF ABOUT GIVEN AXIS A

Now that we have further increasedour knowledge of vector algebra, we can introduce a new concept,the concept of moment of a force about an axis. Consider again a force F acting on a rigid body and the moment M6 of that force about O (Fie. 3.27). Let OL be

Fig.3.27

of the unit vectors i, j, and k for r\ in (3.42), we obselve that the expressions thus obtained for the moments of F about the coordtinate ax.es are respectively equal to the expressions obtained in Sec. 3.8 for the components of the moment M6 of F about O:

3.1 I Momentof o Forceobout o Given Axis

99

M,: AF^- zFu Mo:zF*-xF^ M^: xF, - !lF,

(3.18)

We observethat-just_as the componentsF,, F* and F^ of a force F acting on a rigid body measure,respectively, ihe tendency of F to move the rigid body in the x, y, and z directions, the moments M", Mu, and M^ of F about the coor&nate axesmeasurethe tendencv of F io impart to the rigid body a motion of rotation about the r, y, and z axes,respectively. More generally,the moment of a force F applied at A about an axis whlch does not pass through the origin is obtained by choosingan arbitrary point B on the axis (Fig. S.Zg)and determining the projection on the axisBL of the moment M6 of F about B. We write Mnr: i . Mr: ,[ . (ra4 x F)

(3.45)

where tNB : tA - rn represents the vector drawn from B to A. Expressing Me; in the form of a determinant, we have

Msr:

| ,t. l

l,
I

i,

lxe73 Aen F,, I F,

I

zdn F^

(3.46)

Fis. 3.29

where \", \y, \. : direction cosines of axis BL XA/B: Xa - Xn rjdn: At - ln F,, Fy, F. : components of force F

Zdtn: Za - Zn

It should be noted that the result obtained is independent of the choice of the point B on the given a,nis.Indeed, denoting by M67 the result obtained with a different point C, we have

Mcr:,\.[(ra - r") x tr']

:.[.[(ra-rr) x F ] + z \ . [ ( " " - 1 6 , )x F ] But, since the vectors,\ and tB - tc lie in the sameline, the volume of the parallelepipedhaving the vectors i, rr - 16, and F for sidesis zero, as is the mixed triple product of these three vectors (Sec.3.f0). The expression obtained for M61 thus reducesto its first term, which is the expression used earlier to define Mpy. In addition, it follows from Sec. 3.6 that, when computing the moment of F about the given axis,A can be any point on the line of action of F.

of the unit vectors i, j, and k for r\ in (3.42), we obselve that the expressions thus obtained for the moments of F about the coordtinate ax.es are respectively equal to the expressions obtained in Sec. 3.8 for the components of the moment M6 of F about O:

3.1 I Momentof o Forceobout o Given Axis

99

M,: AF^- zFu Mo:zF*-xF^ M^: xF, - !lF,

(3.18)

We observethat-just_as the componentsF,, F* and F^ of a force F acting on a rigid body measure,respectively, ihe tendency of F to move the rigid body in the x, y, and z directions, the moments M", Mu, and M^ of F about the coor&nate axesmeasurethe tendencv of F io impart to the rigid body a motion of rotation about the r, y, and z axes,respectively. More generally,the moment of a force F applied at A about an axis whlch does not pass through the origin is obtained by choosingan arbitrary point B on the axis (Fig. S.Zg)and determining the projection on the axisBL of the moment M6 of F about B. We write Mnr: i . Mr: ,[ . (ra4 x F)

(3.45)

where tNB : tA - rn represents the vector drawn from B to A. Expressing Me; in the form of a determinant, we have

Msr:

| ,t. l

l,
I

i,

lxe73 Aen F,, I F,

I

zdn F^

(3.46)

Fis. 3.29

where \", \y, \. : direction cosines of axis BL XA/B: Xa - Xn rjdn: At - ln F,, Fy, F. : components of force F

Zdtn: Za - Zn

It should be noted that the result obtained is independent of the choice of the point B on the given a,nis.Indeed, denoting by M67 the result obtained with a different point C, we have

Mcr:,\.[(ra - r") x tr']

:.[.[(ra-rr) x F ] + z \ . [ ( " " - 1 6 , )x F ] But, since the vectors,\ and tB - tc lie in the sameline, the volume of the parallelepipedhaving the vectors i, rr - 16, and F for sidesis zero, as is the mixed triple product of these three vectors (Sec.3.f0). The expression obtained for M61 thus reducesto its first term, which is the expression used earlier to define Mpy. In addition, it follows from Sec. 3.6 that, when computing the moment of F about the given axis,A can be any point on the line of action of F.

{n the problems for this lessonyou will apply the scalar product or dot prodact Iof trvo vectors to determine the angleformed by tuo giaen oectors and the projection of a force on a gioen axis.Yot will also use the mixed triple product of three vectorsto find the mnment of a force about rLgi.aen axis and the perpendicular distancebetueen two lines,

l. clculctlng the ongle formed by fwo given vectars. First ex?ress vectors the in terms of their componentsand determine the magnitudesof the two vectors. The cosine of the desired angle is then obtained by dividing the scalarproduct of the two vectorsby the product of their magnitudes[Eq. (3.32)J.

2. fomputing the projeclion of s vecfor P on a given cxis Ol"" tn general, begin by expressing and the unit vector .tr,that defines the direction of the axis, P in component form. Take care that i has the correct sense(that is, .f, is directed from O to L). The required projection is then equal to the scalarproduct P . ,1,. However,if you know the angle 0 formed by P and r\, the projection is also given by P cos0.

3. Determining fhe mcmenf lll6;.al c force sbout a given uxis OL We defined Ms; as

Mor:i.Mo:.tr.(rxF)

(3,42)

where r\ is the unit vector along OL and r is a position vectorfrom any point on the line OL to any point on the line of action of F. As was the casefor the moment of a force about a point, choosingthe most convenientposition vector will simplify your calculations. Also, recall the waming of the previouslesson: vectorsr and F the must have the correct sense,and they must be placed in the proper order. The procedure you should follow when computing the moment of a force about an axis is illustrated in part c of Sample Prob. 3.5. The two essentialstepsin this procedure are to first express,\, r, and F in terms of their rectangularcomponentsand to then evaluatethe mixed triple product ,\ . (r x F) to determine the moment about the axis. In most three-dimensionalproblems the most convenient wav to compule the mixed triple product is by using a determinant

z -.-.. -.,..:..:....

As noted in the text, when ,,\ is directed along one of the coordinate axes,Ms1 is equal to the scalarcomponent of Me along that axis. (contirrued)

roI

{n the problems for this lessonyou will apply the scalar product or dot prodact Iof trvo vectors to determine the angleformed by tuo giaen oectors and the projection of a force on a gioen axis.Yot will also use the mixed triple product of three vectorsto find the mnment of a force about rLgi.aen axis and the perpendicular distancebetueen two lines,

l. clculctlng the ongle formed by fwo given vectars. First ex?ress vectors the in terms of their componentsand determine the magnitudesof the two vectors. The cosine of the desired angle is then obtained by dividing the scalarproduct of the two vectorsby the product of their magnitudes[Eq. (3.32)J.

2. fomputing the projeclion of s vecfor P on a given cxis Ol"" tn general, begin by expressing and the unit vector .tr,that defines the direction of the axis, P in component form. Take care that i has the correct sense(that is, .f, is directed from O to L). The required projection is then equal to the scalarproduct P . ,1,. However,if you know the angle 0 formed by P and r\, the projection is also given by P cos0.

3. Determining fhe mcmenf lll6;.al c force sbout a given uxis OL We defined Ms; as

Mor:i.Mo:.tr.(rxF)

(3,42)

where r\ is the unit vector along OL and r is a position vectorfrom any point on the line OL to any point on the line of action of F. As was the casefor the moment of a force about a point, choosingthe most convenientposition vector will simplify your calculations. Also, recall the waming of the previouslesson: vectorsr and F the must have the correct sense,and they must be placed in the proper order. The procedure you should follow when computing the moment of a force about an axis is illustrated in part c of Sample Prob. 3.5. The two essentialstepsin this procedure are to first express,\, r, and F in terms of their rectangularcomponentsand to then evaluatethe mixed triple product ,\ . (r x F) to determine the moment about the axis. In most three-dimensionalproblems the most convenient wav to compule the mixed triple product is by using a determinant

z -.-.. -.,..:..:....

As noted in the text, when ,,\ is directed along one of the coordinate axes,Ms1 is equal to the scalarcomponent of Me along that axis. (contirrued)

roI

S"35 Given the vectors P : 3i - j + 2k, e - 4i + 5j - 3k, ancl S : -2i + 3j - k, compute the scalarproductsp . e, p . S, andQ.S. 3.$& Form the scalarproductsB . C and B' . C, where B : B', and use the results obtained to prove the identity c o s a c o s B : ] c o s ( a + 9 1 + j c o s( a - F ) . *.3? Section AB of a pipeline lies in the yz plane and forms an angle r-rf37" with the a aiis. Branch lines Cb and EF ioin AB as sho.Jn. Determine the angle formed by pipes AB arxl CD. Section Ats of a pipeline lies in the yz pl,aneand forrns an angle of 37" with the ziiis. BranchIines iD anclEF ioin AB as shorin. Determine the angle formed by pipes AB and EF.

S-Sf

3.SS Considerthe volleyball net shown. Determine the angle formed by guy wires AB and AC.

Fig. P3.39 ond P3.4O 3"1*S Considerthe volleyball net shown. Determine the angle formed by guy wires AC and AD. S"4l Knorvingthat the tensionin cableAC is 1260 N, determine(a)the angle between cable AC and the boom AB, (b) the projection on AB of the force exertedby cableAC at point A.

S.42 Knowing that the tension in cable AD is 405 N, determine (a) the angle between cable AD and the boom AB, (b) the projection on AB of the force exertedbv cableAD at ooint A.

Fig. P3.41 ond P3.42

r03

S"35 Given the vectors P : 3i - j + 2k, e - 4i + 5j - 3k, ancl S : -2i + 3j - k, compute the scalarproductsp . e, p . S, andQ.S. 3.$& Form the scalarproductsB . C and B' . C, where B : B', and use the results obtained to prove the identity c o s a c o s B : ] c o s ( a + 9 1 + j c o s( a - F ) . *.3? Section AB of a pipeline lies in the yz plane and forms an angle r-rf37" with the a aiis. Branch lines Cb and EF ioin AB as sho.Jn. Determine the angle formed by pipes AB arxl CD. Section Ats of a pipeline lies in the yz pl,aneand forrns an angle of 37" with the ziiis. BranchIines iD anclEF ioin AB as shorin. Determine the angle formed by pipes AB and EF.

S-Sf

3.SS Considerthe volleyball net shown. Determine the angle formed by guy wires AB and AC.

Fig. P3.39 ond P3.4O 3"1*S Considerthe volleyball net shown. Determine the angle formed by guy wires AC and AD. S"4l Knorvingthat the tensionin cableAC is 1260 N, determine(a)the angle between cable AC and the boom AB, (b) the projection on AB of the force exertedby cableAC at point A.

S.42 Knowing that the tension in cable AD is 405 N, determine (a) the angle between cable AD and the boom AB, (b) the projection on AB of the force exertedbv cableAD at ooint A.

Fig. P3.41 ond P3.42

r03

3.49

To lift a heavy crate, a man usesa block and tackle attachedto the bottom of an I-beam at hook B. Knowing that the moments about the y and the z axesof the force exertedat B by portion AB of the rope are, respectiveln 120 N . m and -460 N . m, determine the distancea.

Problems | 05

3.5O To lift a heavy crate, a man uses a block and tackle attached to the bottom of an I-beam at hook B. Knowing that the man applies a 195-N force to end A of the rope and that the moment & ttrut force about the y axis is 132 N . m, determine the distance a.

3.5t

A small boat hangs from two davits, one of which is shown in the figure. It is known that the moment about the z axis of the resultant force Ra exerted on the davit at A must not exceed 279 lb . ft in absolutevalue. Determine the largest allowabletension in line ABAD when r : 6 ft.

9.52 For the davit of Prob. 3.5I, determine the larsest allowable distance r when the tension in line ABAD is 60 lb.

Fig. P3.49 ond P3.50

3.53

To loosena frozen valve, a force F of magnitude70 lb is applied to the handle of the valve. Knowing that g : 25, M, : -6f lb . ft, and M, : -43 lb . ft, determine @ and d.

3.54 When a force F is applied to the handle of the valve shown, its
momentsabout the x and z axesare, respectively, : -77 lb . {t M, atd M^: -81 lb . ft. For d : 27 in., determinethe momentM, of F about the y axis.

3.49

To lift a heavy crate, a man usesa block and tackle attachedto the bottom of an I-beam at hook B. Knowing that the moments about the y and the z axesof the force exertedat B by portion AB of the rope are, respectiveln 120 N . m and -460 N . m, determine the distancea.

Problems | 05

3.5O To lift a heavy crate, a man uses a block and tackle attached to the bottom of an I-beam at hook B. Knowing that the man applies a 195-N force to end A of the rope and that the moment & ttrut force about the y axis is 132 N . m, determine the distance a.

3.5t

A small boat hangs from two davits, one of which is shown in the figure. It is known that the moment about the z axis of the resultant force Ra exerted on the davit at A must not exceed 279 lb . ft in absolutevalue. Determine the largest allowabletension in line ABAD when r : 6 ft.

9.52 For the davit of Prob. 3.5I, determine the larsest allowable distance r when the tension in line ABAD is 60 lb.

Fig. P3.49 ond P3.50

3.53

To loosena frozen valve, a force F of magnitude70 lb is applied to the handle of the valve. Knowing that g : 25, M, : -6f lb . ft, and M, : -43 lb . ft, determine @ and d.

3.54 When a force F is applied to the handle of the valve shown, its
momentsabout the x and z axesare, respectively, : -77 lb . {t M, atd M^: -81 lb . ft. For d : 27 in., determinethe momentM, of F about the y axis.

3.61 A sign erected on uneven ground is guyed by cablesEF and EG. If the force exertedby cable EF at E is 46 lb, determine the moment of that force about the line joining points A and D.

Problems 107

Fig. P3.6f ond P3.62 3"62 A sign erected on unevenground is guyed by cablesEF atdBc.If the force exertedby cable EC at E is 54 lb, determine the moment of that force about the line joining points A and D. 3,63 Two forces F1 and F2 in spacehave the same magnitude F. Prove that the moment of F1 about the line of action of F2 is equal to the moment of Fe about the line of action of F1.

"3"64 In Prob. 3.55, determine the perpendicular distance between portion BII of the cable and the diagonal AD. *3.65 In Prob. 3.56, determine the perpendicular distancebetween portion BG of the cable and the diagonalAD.

*3.66 In Prob. 3.57, determine the perpendicular distance between cable AE and the line joining points D and B. "3.67 In Prob. 3.58, determine the perpendicular distance between cable CF and the line joining points D and B. *3.68 In Prob. 3.61, determine the perpendicular distance between cable EF and the line joining points A and D. *3.69 In Prob. 3.62, determine the perpendicular distance between cableEC and the line joining points A and D.

3.61 A sign erected on uneven ground is guyed by cablesEF and EG. If the force exertedby cable EF at E is 46 lb, determine the moment of that force about the line joining points A and D.

Problems 107

Fig. P3.6f ond P3.62 3"62 A sign erected on unevenground is guyed by cablesEF atdBc.If the force exertedby cable EC at E is 54 lb, determine the moment of that force about the line joining points A and D. 3,63 Two forces F1 and F2 in spacehave the same magnitude F. Prove that the moment of F1 about the line of action of F2 is equal to the moment of Fe about the line of action of F1.

"3"64 In Prob. 3.55, determine the perpendicular distance between portion BII of the cable and the diagonal AD. *3.65 In Prob. 3.56, determine the perpendicular distancebetween portion BG of the cable and the diagonalAD.

*3.66 In Prob. 3.57, determine the perpendicular distance between cable AE and the line joining points D and B. "3.67 In Prob. 3.58, determine the perpendicular distance between cable CF and the line joining points D and B. *3.68 In Prob. 3.61, determine the perpendicular distance between cable EF and the line joining points A and D. *3.69 In Prob. 3.62, determine the perpendicular distance between cableEC and the line joining points A and D.

3.I3 EQUIVATENT COUPLES

Figure 3.34 showsthree coupleswhich act successively the same on rectangularbox. As seenin the preceding section,the only motion a couple can impart to a rigid body is a rotation. Since each of the three couples shown has the same moment M (same direction and samemagnitudeM : L20lb . in.), we can expectthe three couples to have the same effect on the box.

3.13 Equivolent Couples | 09

30 lb
z

Fig. 3.34

(a)

(b)

(c)

As reasonableas this conclusionappears,we should not accept it hastily.While intuitive feeling is of great help in the study of mechanics, it should not be accepted as a substitute for logical reasoning. Before stating that two systems(or groups) of forces have the same effect on a rigid body, we should prove that fact on the basisof the experimental evidence introduced so far. This evidence consistsof the parallelogramlaw for the addition of two forces (Sec. 2,2) and the principle of transmissibility (Sec. 3.3). Therefore, we will state that tu;o systemsof forces are equioalent (i.e., they have the same effect on a rigid body) if u;e can transform one of them i.ntothe other by meansof one or seoeralof the following operations:(1) replacing two forcesacting on the sameparticle by their resultant;(2) resolving a force into two components;(3) canceling two equal and opposite forces acting on the sameparticle; (4) attachingto the sameparticle two equal and opposite forces; (5) moving a force along its line of action. Each of these operationsis easilyjustified on the basisof the parallelogramlaw or the principle of transmissibility. Let us now prove thattuoo coupleshaoingthe sampmoment M are equi,oalenf.First consider two couples contained in the same plane, and assumethat this plane coincides with the plane of the figure (Fig, 3,35),The first coupleconsists the forcesF1 and -F1 of of magnitude F,, which are located at a distanced1 from each other (Fig. 3.35a),and the secondcoupleconsists the forcesF2 and -F2 of of magnitude F2, which are located at a distanced,2from each other (Fig. 3.35d).Sincethe two couples havethe samemoment M, which is perpendicular to the plane of the figure, they must have the same sense(assumedhere to be counterclockwise), and the relation
F1d1: F2d2

(3.4e)

must be satisfted.To prove that they are equivalent, we shall show that the first couple can be transformed into the second by means of the operationslisted above.

3.I3 EQUIVATENT COUPLES

Figure 3.34 showsthree coupleswhich act successively the same on rectangularbox. As seenin the preceding section,the only motion a couple can impart to a rigid body is a rotation. Since each of the three couples shown has the same moment M (same direction and samemagnitudeM : L20lb . in.), we can expectthe three couples to have the same effect on the box.

3.13 Equivolent Couples | 09

30 lb
z

Fig. 3.34

(a)

(b)

(c)

As reasonableas this conclusionappears,we should not accept it hastily.While intuitive feeling is of great help in the study of mechanics, it should not be accepted as a substitute for logical reasoning. Before stating that two systems(or groups) of forces have the same effect on a rigid body, we should prove that fact on the basisof the experimental evidence introduced so far. This evidence consistsof the parallelogramlaw for the addition of two forces (Sec. 2,2) and the principle of transmissibility (Sec. 3.3). Therefore, we will state that tu;o systemsof forces are equioalent (i.e., they have the same effect on a rigid body) if u;e can transform one of them i.ntothe other by meansof one or seoeralof the following operations:(1) replacing two forcesacting on the sameparticle by their resultant;(2) resolving a force into two components;(3) canceling two equal and opposite forces acting on the sameparticle; (4) attachingto the sameparticle two equal and opposite forces; (5) moving a force along its line of action. Each of these operationsis easilyjustified on the basisof the parallelogramlaw or the principle of transmissibility. Let us now prove thattuoo coupleshaoingthe sampmoment M are equi,oalenf.First consider two couples contained in the same plane, and assumethat this plane coincides with the plane of the figure (Fig, 3,35),The first coupleconsists the forcesF1 and -F1 of of magnitude F,, which are located at a distanced1 from each other (Fig. 3.35a),and the secondcoupleconsists the forcesF2 and -F2 of of magnitude F2, which are located at a distanced,2from each other (Fig. 3.35d).Sincethe two couples havethe samemoment M, which is perpendicular to the plane of the figure, they must have the same sense(assumedhere to be counterclockwise), and the relation
F1d1: F2d2

(3.4e)

must be satisfted.To prove that they are equivalent, we shall show that the first couple can be transformed into the second by means of the operationslisted above.

in whetherthey are contained the samemomentM are equivalentplaneor in parallelplanes. the sarne is The property *" hu,r" juit established very important for the of correct .,ni"trtandlng of thb mechanics rigid bodies.It indicates that when a couple acts on a rigid body, it does not matter where the two forces foiming the couple act or what magnitude and direction they have. The only thing which corrnts is the moment of the couple (magnitudeand direction).Coupleswith the samemoment will^harethi sameeffect on the rigid body.

by 3.15 CouplesCon Be Represented Vectors I I I

Ot 3.| 4 ADDITION COUPIES

Consider two intersecting planes P1 and P2 and tr,vocouples acting ^We can, without any loss of generality, respectively in P1 and pr. -F1 perof urri-" that the couplein P1consists two forcesF1 and and-acting -Fr pendicular to the line of intersection of the two planes '::l that the iespectively at A and B (Fig. 3.37a). Similarly, we assume. to of in i2 consists twoTorcesF2 and -F2 perpendicular AB "o.bl" the resultant R of and'acting respectivelyat A and B. It is clear thit -F1 and -F2 form a couple' F1 and f", a"i the resultant -R of Denoting by r the vector joining B to A and recalling the definition of the mlment of a coupie (Sec.3.12),we er?ressthe moment M of the resulting couple as follows: M:rxR:rx(F1 and, by Varignon'stheorem, M : r x F 1 + r X F 2
But the first term in the expressionobtained represents the moment M1 of the couple in P1.and'the second term representsthe moment M2 of the couple in P2. We have M : Ml * M2 (3.50) Fig.3.37

tF2)

and we conclude that the sum of two couples of moments M1 and M2 is a couple of moment M equal to the vector sum of M1 and M2

(Fig.3.37b).

BYVECTORS CAN O.I5 COUPLES BEREPRESENTED

As we saw in Sec. 3.13, couples which have the same moment, whether they act in the sameplane or in parallel planes,are equivalent. There is therefore no need to draw the actual fbrces forming a givencouplein order to define its effect on a rigid body (Fig. 3'384)' it is sufficient to draw an arrow equal in magnitude and direction to the moment M of the couple (Fi-g.3.38b).bn the other hand, we saw in Sec.3.14 that the sitm of two couplesis itself a couple and that the moment M of the resultantcouplecan be obtainedby fbrmins the vector sum of the momentsMr and Me of the givencouples' obeythe law of additionofvectors,and the arrowused TFus,couples in Fig. S.igb to representthe couple defined in Fig. 3'38a can truly a be considered vector.

in whetherthey are contained the samemomentM are equivalentplaneor in parallelplanes. the sarne is The property *" hu,r" juit established very important for the of correct .,ni"trtandlng of thb mechanics rigid bodies.It indicates that when a couple acts on a rigid body, it does not matter where the two forces foiming the couple act or what magnitude and direction they have. The only thing which corrnts is the moment of the couple (magnitudeand direction).Coupleswith the samemoment will^harethi sameeffect on the rigid body.

by 3.15 CouplesCon Be Represented Vectors I I I

Ot 3.| 4 ADDITION COUPIES

Consider two intersecting planes P1 and P2 and tr,vocouples acting ^We can, without any loss of generality, respectively in P1 and pr. -F1 perof urri-" that the couplein P1consists two forcesF1 and and-acting -Fr pendicular to the line of intersection of the two planes '::l that the iespectively at A and B (Fig. 3.37a). Similarly, we assume. to of in i2 consists twoTorcesF2 and -F2 perpendicular AB "o.bl" the resultant R of and'acting respectivelyat A and B. It is clear thit -F1 and -F2 form a couple' F1 and f", a"i the resultant -R of Denoting by r the vector joining B to A and recalling the definition of the mlment of a coupie (Sec.3.12),we er?ressthe moment M of the resulting couple as follows: M:rxR:rx(F1 and, by Varignon'stheorem, M : r x F 1 + r X F 2
But the first term in the expressionobtained represents the moment M1 of the couple in P1.and'the second term representsthe moment M2 of the couple in P2. We have M : Ml * M2 (3.50) Fig.3.37

tF2)

and we conclude that the sum of two couples of moments M1 and M2 is a couple of moment M equal to the vector sum of M1 and M2

(Fig.3.37b).

BYVECTORS CAN O.I5 COUPLES BEREPRESENTED

As we saw in Sec. 3.13, couples which have the same moment, whether they act in the sameplane or in parallel planes,are equivalent. There is therefore no need to draw the actual fbrces forming a givencouplein order to define its effect on a rigid body (Fig. 3'384)' it is sufficient to draw an arrow equal in magnitude and direction to the moment M of the couple (Fi-g.3.38b).bn the other hand, we saw in Sec.3.14 that the sitm of two couplesis itself a couple and that the moment M of the resultantcouplecan be obtainedby fbrmins the vector sum of the momentsMr and Me of the givencouples' obeythe law of additionofvectors,and the arrowused TFus,couples in Fig. S.igb to representthe couple defined in Fig. 3'38a can truly a be considered vector.

couple tends to impart to the rigid body the samerotational motion O that the foice F tended-toprod.t"" before it was transferred "boirtThe couple is represented a couplevector Me perpendicuiar by to O. plane containing r and F. Since Me is a free vector, it may to the however,the couple vector is be applied anywhere;fir convenience, ,suuliu attachLdat O, together with F, and the combinationobtained (Fig' 3.39c)' is referred to as aforcelcouplesVstem If the force F had been moved from A to a different point O' (Fig. 3.404and c), the moment Mo, : r' x F of F about O' should hu# b""" computed, and a new force-couple system,corrsistingof F and of the cbuple vector Me,, would have been attachedal O'' The relation existingbetween the moments of F about O and O' is obtained by writing Mo, : r' X F = (r * s) x F = r X F * s x F Mo,:Mo*sXF

of 3.16 Resolutiono GivenForceinto " l-orce ol I ond o Louple

I l3

(3.51)

where s is the vector joining O' to O, Thus, the moment Mp' of F about O' is obtained by adding to the moment Me of F about O the vector product s X F representingthe moment about O' of the force F applied at O.

\a)

(b)

lc)

Fis.3.40

This result could also have been establishedby observingthat, in order to transfer to O' the force-couple system attached at O (Fig. 3.40band c), the couplevector M6 can be freely movedto O'; to to irove the force F from-O to O', however,it is necessary add to F a couple vector whose moment is equal to the moment about O' of the force F applied at O. Thus, the couple vector Me' must be the sum of Ms and the vector s x F' As noted above,the force-couplesystemobtainedby transferring of a force F from a point A to a point O consists F and a couplevector *y to F. Conversely, force-couplesystemcon-sistilg Me perpendicular of-"tot"" F and a couplevector Mo -hi"h aremutualiy perpendiatlar can be replacedby a iingle equivalentforce. This is done by mwing the force F in the-planeperpendicularto Me until its moment about O is equal to the momenl of the couple to be eliminated.

Pholo 3.2 The force exe*ed by eoch hond on the wrench could be replocedwith on equivolent system octing on the nut. force-couple

couple tends to impart to the rigid body the samerotational motion O that the foice F tended-toprod.t"" before it was transferred "boirtThe couple is represented a couplevector Me perpendicuiar by to O. plane containing r and F. Since Me is a free vector, it may to the however,the couple vector is be applied anywhere;fir convenience, ,suuliu attachLdat O, together with F, and the combinationobtained (Fig' 3.39c)' is referred to as aforcelcouplesVstem If the force F had been moved from A to a different point O' (Fig. 3.404and c), the moment Mo, : r' x F of F about O' should hu# b""" computed, and a new force-couple system,corrsistingof F and of the cbuple vector Me,, would have been attachedal O'' The relation existingbetween the moments of F about O and O' is obtained by writing Mo, : r' X F = (r * s) x F = r X F * s x F Mo,:Mo*sXF

of 3.16 Resolutiono GivenForceinto " l-orce ol I ond o Louple

I l3

(3.51)

where s is the vector joining O' to O, Thus, the moment Mp' of F about O' is obtained by adding to the moment Me of F about O the vector product s X F representingthe moment about O' of the force F applied at O.

\a)

(b)

lc)

Fis.3.40

This result could also have been establishedby observingthat, in order to transfer to O' the force-couple system attached at O (Fig. 3.40band c), the couplevector M6 can be freely movedto O'; to to irove the force F from-O to O', however,it is necessary add to F a couple vector whose moment is equal to the moment about O' of the force F applied at O. Thus, the couple vector Me' must be the sum of Ms and the vector s x F' As noted above,the force-couplesystemobtainedby transferring of a force F from a point A to a point O consists F and a couplevector *y to F. Conversely, force-couplesystemcon-sistilg Me perpendicular of-"tot"" F and a couplevector Mo -hi"h aremutualiy perpendiatlar can be replacedby a iingle equivalentforce. This is done by mwing the force F in the-planeperpendicularto Me until its moment about O is equal to the momenl of the couple to be eliminated.

Pholo 3.2 The force exe*ed by eoch hond on the wrench could be replocedwith on equivolent system octing on the nut. force-couple

SAMPLE PROBLEM3.7
Replace the couple and lorce shown by an equivalent single force applied to the lever. Determine the distancefrom the shaft to the point of application of this equivalent force.

60 mm

200

'/ '
260mm

a
// / /

/i gOtlJTlOtil i SoLuTloN

4 N'nJk

First the given force and couple are replacedby an equivalentforce-couple systemat O. We move the force F : -(400 N)j to O and at tle sametime : add a couple of moment M6 equal to the moment about O of the force in # k' its original position. {W} _ l + r . r , , F l 4 . g { r\ . r r ,k + 150mm ] M o - O B x F : [ ( 0 . 1 5 0 m )+ ( 0 . 2 6 0 m ) j x ( - 4 0 0 N ) j i $ ,*nnr,1 =-(60N.m)k This couple is added to the couple of moment -(24 N ' m)k formed by the two 200-N forces, and a couple of moment -(84 N . m)k is obtained. This Iast couple can be eliminated by applying F at a point C chosenin such a way that

F = - r4(x) N\j

-(84N'm)k: od , r' : t(OC)cos + 60oi (OC)sin60Jl x (-400N)j

(81N'rrr)k

: - (OC)cos 0"(400N)k 6

We concludethat
_ (400 N)i

(OC) cos 60" : 0.210 m : 210 mm

- (2'l N'rn)k

BC : 12-t) nm

ts

&tlr*rnutiv* Sslufio$, Since the effect of a couple does not depend on its location, the couple of moment -(24 N ' m)k can be moved to B; we thus obtain a force-couple system at B. The couple can now be eliminated by applpng F at a point C chosenin such a way that

-(24N'm)k:nd*r
: - ( B C ) c o s6 0 " ( 4 0 0 N ) k
150mm

We conclude that (BC) cos 60' : 0.060 m : 60 mm BC : 120 mm : 300 mm * 120 mm OC : 42t) x*tz OC : OB + BC

- (100 N)j r4(r0 \)j

il5

SAMPLE PROBLEM3.7
Replace the couple and lorce shown by an equivalent single force applied to the lever. Determine the distancefrom the shaft to the point of application of this equivalent force.

60 mm

200

'/ '
260mm

a
// / /

/i gOtlJTlOtil i SoLuTloN

4 N'nJk

First the given force and couple are replacedby an equivalentforce-couple systemat O. We move the force F : -(400 N)j to O and at tle sametime : add a couple of moment M6 equal to the moment about O of the force in # k' its original position. {W} _ l + r . r , , F l 4 . g { r\ . r r ,k + 150mm ] M o - O B x F : [ ( 0 . 1 5 0 m )+ ( 0 . 2 6 0 m ) j x ( - 4 0 0 N ) j i $ ,*nnr,1 =-(60N.m)k This couple is added to the couple of moment -(24 N ' m)k formed by the two 200-N forces, and a couple of moment -(84 N . m)k is obtained. This Iast couple can be eliminated by applying F at a point C chosenin such a way that

F = - r4(x) N\j

-(84N'm)k: od , r' : t(OC)cos + 60oi (OC)sin60Jl x (-400N)j

(81N'rrr)k

: - (OC)cos 0"(400N)k 6

We concludethat
_ (400 N)i

(OC) cos 60" : 0.210 m : 210 mm

- (2'l N'rn)k

BC : 12-t) nm

ts

&tlr*rnutiv* Sslufio$, Since the effect of a couple does not depend on its location, the couple of moment -(24 N ' m)k can be moved to B; we thus obtain a force-couple system at B. The couple can now be eliminated by applpng F at a point C chosenin such a way that

-(24N'm)k:nd*r
: - ( B C ) c o s6 0 " ( 4 0 0 N ) k
150mm

We conclude that (BC) cos 60' : 0.060 m : 60 mm BC : 120 mm : 300 mm * 120 mm OC : 42t) x*tz OC : OB + BC

- (100 N)j r4(r0 \)j

il5

3.7S

Two parallel 60-N forces are applied to a lever as shown' Determine the moment of the couple formed by the two forces (a) by resolving each force into horlontal and vertical components and adding tie moments of the two resulting couples. (b) by using the perp.ndi"ular distancebetween the two forces.tt'r by surnming the moments of the two forces about point A.

Fig. P3.7O 3.71 A plate in the shapeof a parallelogramis acted upon,bl' tYo coupl&. D"tettoine (a) the tnoment ol the couple formed by,Jhg two 'zt-lb fo.""r, (b) the perpendiculardistancebetweenthe 12-lb forces if the resultant of tire i"o couplesis zero, (c) the value of a if the resultant couple is 72 lb ' in. clockwise and d is 42 in. g.72 A couple M of magnitude 18 N ' m is applied to the handle of u ,"r"i"dti r"r to tfuhten a screw into a block of wood Determine the magnitudLs of the two smallest horizontal forces that are equivalenl to M if they are applied (a) at corners A and D, (b) at corners B and C, (c) anywhere on the block.
21lb C 12th

-T
l lb l6,in
I

Fis. P3.71

roon.AD/

160 rnr.n

160mm

Fis. P3.72

r17

3.7S

Two parallel 60-N forces are applied to a lever as shown' Determine the moment of the couple formed by the two forces (a) by resolving each force into horlontal and vertical components and adding tie moments of the two resulting couples. (b) by using the perp.ndi"ular distancebetween the two forces.tt'r by surnming the moments of the two forces about point A.

Fig. P3.7O 3.71 A plate in the shapeof a parallelogramis acted upon,bl' tYo coupl&. D"tettoine (a) the tnoment ol the couple formed by,Jhg two 'zt-lb fo.""r, (b) the perpendiculardistancebetweenthe 12-lb forces if the resultant of tire i"o couplesis zero, (c) the value of a if the resultant couple is 72 lb ' in. clockwise and d is 42 in. g.72 A couple M of magnitude 18 N ' m is applied to the handle of u ,"r"i"dti r"r to tfuhten a screw into a block of wood Determine the magnitudLs of the two smallest horizontal forces that are equivalenl to M if they are applied (a) at corners A and D, (b) at corners B and C, (c) anywhere on the block.
21lb C 12th

-T
l lb l6,in
I

Fis. P3.71

roon.AD/

160 rnr.n

160mm

Fis. P3.72

r17

of 3.8O ShaftsA and B connect the gear box to the wheel assemblies ShaftsA and.B a tractor, and shaft C conneits it to the engine' lie in the vertical qz plane,while shaft C is directed along the r axis. Replacethe couples applied to the shafts with a single eq'uiualenfcouple, speciiying iti magnitude and the direction of its axis. 3.81 The tension in the cable attached to the end C of an adjustable boom ABC is 560 Ib. Replacethe force exerted by the cable at C with an equivalent force-couple system (a) at A, (b) at B' Fig. P3.80

Problems | 9 I

Fig. P3.81

3.82 A 1601b force P is applied at point A of a structural member, Replace P with (a) an equivalen[ force-couple system at C, (b) ar' f-r o*f.eqriivalent systemconsisiing of a vertical force at B and a second Fig. P3.82 force at D. 3.83 The 80-N horizontal force P acts on a bell crank as shown' (a) ReplaceP with an equivalentforce-couplesystemat B' (b) Find it" two verticalforcesai C and D that areiquivalent to the couple found in part a.

4ft----]

t_
Fis. P3.83

loomm

,,t--l

g.84 A dirigible is tethered by a cable attached to its cabin at B. If the tensioi in the cable is i040 N, replace the force exerted by the cable at B with an equivalentsystemformed by two parallel forces applied at A and C.

Fig. P3,84

of 3.8O ShaftsA and B connect the gear box to the wheel assemblies ShaftsA and.B a tractor, and shaft C conneits it to the engine' lie in the vertical qz plane,while shaft C is directed along the r axis. Replacethe couples applied to the shafts with a single eq'uiualenfcouple, speciiying iti magnitude and the direction of its axis. 3.81 The tension in the cable attached to the end C of an adjustable boom ABC is 560 Ib. Replacethe force exerted by the cable at C with an equivalent force-couple system (a) at A, (b) at B' Fig. P3.80

Problems | 9 I

Fig. P3.81

3.82 A 1601b force P is applied at point A of a structural member, Replace P with (a) an equivalen[ force-couple system at C, (b) ar' f-r o*f.eqriivalent systemconsisiing of a vertical force at B and a second Fig. P3.82 force at D. 3.83 The 80-N horizontal force P acts on a bell crank as shown' (a) ReplaceP with an equivalentforce-couplesystemat B' (b) Find it" two verticalforcesai C and D that areiquivalent to the couple found in part a.

4ft----]

t_
Fis. P3.83

loomm

,,t--l

g.84 A dirigible is tethered by a cable attached to its cabin at B. If the tensioi in the cable is i040 N, replace the force exerted by the cable at B with an equivalentsystemformed by two parallel forces applied at A and C.

Fig. P3,84

3.9t

A hexagonalplate is acted upon by the force P and the couple shown.betermine the Inugtrit,rd" and the direction of the smallest force P for which this sysiem can be replaced with a single {brce at E. A rectangular plate is acted upon by the force and couple :h9y (a) For is This systEm io be replacedwith a singleequivalentforce action ol the : 40", specify the magnitude and the a !"9 9f equivalent 6rce.'(b) Speciiy the value of a if the line of action of th'e equivalent force ii to intersect line CD 300 mm to the right of D.
300N

Problems l2l

3.tg

Fig. P3.9r

TI 240mm
I

t_

l*_noo

lig. P3.92 3.93 Rn eccentric, compressive1220-N force P is applied to the end of a cantilever beam. Replace P with an equivalent force-couple systemat G. 3.94 To keep a door closed,a wooden stick is wedgedbetween the floor Fig. P3.93 and the doorknob' The stick exerts at B a 175-N fbrce directed along line AB. Replacethat force with an equivalent force-couple system at C. .)

Fig. P3.94

3.9t

A hexagonalplate is acted upon by the force P and the couple shown.betermine the Inugtrit,rd" and the direction of the smallest force P for which this sysiem can be replaced with a single {brce at E. A rectangular plate is acted upon by the force and couple :h9y (a) For is This systEm io be replacedwith a singleequivalentforce action ol the : 40", specify the magnitude and the a !"9 9f equivalent 6rce.'(b) Speciiy the value of a if the line of action of th'e equivalent force ii to intersect line CD 300 mm to the right of D.
300N

Problems l2l

3.tg

Fig. P3.9r

TI 240mm
I

t_

l*_noo

lig. P3.92 3.93 Rn eccentric, compressive1220-N force P is applied to the end of a cantilever beam. Replace P with an equivalent force-couple systemat G. 3.94 To keep a door closed,a wooden stick is wedgedbetween the floor Fig. P3.93 and the doorknob' The stick exerts at B a 175-N fbrce directed along line AB. Replacethat force with an equivalent force-couple system at C. .)

Fig. P3.94

3.E9 A 46-lb force F and a 2120-lb ' in. couple M are applied to corner
A of the block shown. Replacethe given force-couplesystemwith an equivalent force-couplesystemat corner I{.

Reduct'on"oi;ir*l 3.12 BT.iTJj: 123

'1"

Fig. P3.99 SJAO The handpiece for a miniature industrial grinder-weight-0'9 lb, and its center of gravity is located on the y axis' The-head ot the handpiece is off#t in the ra plane in tuch , way that Iine.BC fo.ms' ar. ansle of 25" with the r direction. Show that the weight and the two couplesM1 and M2 can be replaced of the handp"iece : with a singlb equivalent force' Further, assumingthat M1 0'68 ' in', determine (a) the magnitude and lb . in. uid, tutr': 0.65 lb the direction of the equivalent force' (b) the point where its line of action intersectsthe ra Plane.

Fig. P3.IOO

g.I7

TO OF OF REDUCTION A SYSTEM FORCES ONE ONE COUPLE AND FORCE

Considera systemof forcesFr, Fr, F3, . . . , acting on a rigid body at by the points At, Az, As, . . , defi,ned _thepositi'onoectors11,t2, rs, section,F1 can be moved etc.\trrg.3.a14).As seenin the precedingfrom Ai to a given point O if a^coupleof moment M1 equal to the fFr oi Fr about O is ;dded to the original system of -o-"rrt ", , we obtain the forces. Repeating this procedure with Fz, Fs,

\a)

(c)

Fig. 3.41

3.E9 A 46-lb force F and a 2120-lb ' in. couple M are applied to corner
A of the block shown. Replacethe given force-couplesystemwith an equivalent force-couplesystemat corner I{.

Reduct'on"oi;ir*l 3.12 BT.iTJj: 123

'1"

Fig. P3.99 SJAO The handpiece for a miniature industrial grinder-weight-0'9 lb, and its center of gravity is located on the y axis' The-head ot the handpiece is off#t in the ra plane in tuch , way that Iine.BC fo.ms' ar. ansle of 25" with the r direction. Show that the weight and the two couplesM1 and M2 can be replaced of the handp"iece : with a singlb equivalent force' Further, assumingthat M1 0'68 ' in', determine (a) the magnitude and lb . in. uid, tutr': 0.65 lb the direction of the equivalent force' (b) the point where its line of action intersectsthe ra Plane.

Fig. P3.IOO

g.I7

TO OF OF REDUCTION A SYSTEM FORCES ONE ONE COUPLE AND FORCE

Considera systemof forcesFr, Fr, F3, . . . , acting on a rigid body at by the points At, Az, As, . . , defi,ned _thepositi'onoectors11,t2, rs, section,F1 can be moved etc.\trrg.3.a14).As seenin the precedingfrom Ai to a given point O if a^coupleof moment M1 equal to the fFr oi Fr about O is ;dded to the original system of -o-"rrt ", , we obtain the forces. Repeating this procedure with Fz, Fs,

\a)

(c)

Fig. 3.41

3.I8

OF SYSTEMS FORCES EQUIVATENT

of Systems Vectors 125 3.19 Equipollent

We saw in the preceding sectionthat any systemof forces acting on at r;ystem a givenpoint a riqid body can be reduied to a force-couple completelythe systemchiracterizes O. Tnit eqliualent force-couple body. Two systemsof effect of tie gi.ren for"e sysi"m on the rigid cai be reduced to the same forces are eqri.aalunt,thercfore, if they "force-couple system at a gioen point O. Recalling^thx the force'"o,rpl" (3.52), we state that sfstem"at O is defined by the relationLs Fr, t*o'ryriu-" of forces, Fz, F;,. .., andFi, Fi' qi, " '-,whtch act oi the sine rigid bodg are equioalentif, and only if, the surns of of the forces ond ttu sums" the momnntsabout a gioen point O of ihu |or"ut of the two systemsare, respectittely,-equaL ^Expressed matiiematically,the tr"""sury and sufftcient conditions for the two systemsof forces to be equivalent are )F : )F' and )Mo '= 214' (3.57)

Photo 3.3 The forcesexerled by the children with on upon the wogon con be reploced when onolyzing system force-couple equivolent the motionof the wogon.

Note that to prove that two systemsof forces-are equivalent, the with respectto secondof thJ relations(3.57) must be established only one point O.It wilt hold, howeveawith respectto any point If the-two systemsare equivalent. Resolvins the forces and moments in (3.57) into their rectanand sufficient condithe qular componJnts,we can express necessary fo. the equi.ralenceof^two systemsof lbrces acting on a rigid lior,, body as follows:

2F,: 2F', 2M*:2M',

2F, :2F', 2 M u: 2 7 1 '

2F':2P'^ 2M^:2P7'

(3.bg)

These equations have a simple physical siglificance'-They express to that two'systems of forces aie equivalent if they tend_ impart to the rigid body (1) the sametranslationin thr: x,-y, and a directions, ,"rp"Jtir"ly, and (2) the same rotation about the x, A, and z axes, respectively.

OF SYSTEMS VECTORS 3.I9 EQUIPOLLENT

of when two systems vectorssatisfi Eqs. (3.57)or (3'58), In general, resultantsand their moment resultantsabout an arbii.e.]when their are trary point O are respectivelyeqqal, the two sy-stems said to, be section.can,thus in established tle pre,ceding equipillent. The result of be restatedas follows, lf tu;o systems forces actingon a rigid body are equipollent,they are also equiaalent. it is impotani to note that this statementdoes^notapplyto any systemof ve6tors.Consider,for example,a s)'stemof forcesacting on tdo not-lbrm u ti$q body' A difa set of independentparticleswhich on the sameparticlesmay happento be ferent systemof forcei acting equipolient to the first one;"i.e.,it may have the sameresultant and the iame moment resultant. Yet, since different forces will now act will on their effects thesepartic)es bediiflerent: particles. on the various of the two systems forces,while equipollent, are not equiualent'

3.I8

OF SYSTEMS FORCES EQUIVATENT

of Systems Vectors 125 3.19 Equipollent

We saw in the preceding sectionthat any systemof forces acting on at r;ystem a givenpoint a riqid body can be reduied to a force-couple completelythe systemchiracterizes O. Tnit eqliualent force-couple body. Two systemsof effect of tie gi.ren for"e sysi"m on the rigid cai be reduced to the same forces are eqri.aalunt,thercfore, if they "force-couple system at a gioen point O. Recalling^thx the force'"o,rpl" (3.52), we state that sfstem"at O is defined by the relationLs Fr, t*o'ryriu-" of forces, Fz, F;,. .., andFi, Fi' qi, " '-,whtch act oi the sine rigid bodg are equioalentif, and only if, the surns of of the forces ond ttu sums" the momnntsabout a gioen point O of ihu |or"ut of the two systemsare, respectittely,-equaL ^Expressed matiiematically,the tr"""sury and sufftcient conditions for the two systemsof forces to be equivalent are )F : )F' and )Mo '= 214' (3.57)

Photo 3.3 The forcesexerled by the children with on upon the wogon con be reploced when onolyzing system force-couple equivolent the motionof the wogon.

Note that to prove that two systemsof forces-are equivalent, the with respectto secondof thJ relations(3.57) must be established only one point O.It wilt hold, howeveawith respectto any point If the-two systemsare equivalent. Resolvins the forces and moments in (3.57) into their rectanand sufficient condithe qular componJnts,we can express necessary fo. the equi.ralenceof^two systemsof lbrces acting on a rigid lior,, body as follows:

2F,: 2F', 2M*:2M',

2F, :2F', 2 M u: 2 7 1 '

2F':2P'^ 2M^:2P7'

(3.bg)

These equations have a simple physical siglificance'-They express to that two'systems of forces aie equivalent if they tend_ impart to the rigid body (1) the sametranslationin thr: x,-y, and a directions, ,"rp"Jtir"ly, and (2) the same rotation about the x, A, and z axes, respectively.

OF SYSTEMS VECTORS 3.I9 EQUIPOLLENT

of when two systems vectorssatisfi Eqs. (3.57)or (3'58), In general, resultantsand their moment resultantsabout an arbii.e.]when their are trary point O are respectivelyeqqal, the two sy-stems said to, be section.can,thus in established tle pre,ceding equipillent. The result of be restatedas follows, lf tu;o systems forces actingon a rigid body are equipollent,they are also equiaalent. it is impotani to note that this statementdoes^notapplyto any systemof ve6tors.Consider,for example,a s)'stemof forcesacting on tdo not-lbrm u ti$q body' A difa set of independentparticleswhich on the sameparticlesmay happento be ferent systemof forcei acting equipolient to the first one;"i.e.,it may have the sameresultant and the iame moment resultant. Yet, since different forces will now act will on their effects thesepartic)es bediiflerent: particles. on the various of the two systems forces,while equipollent, are not equiualent'

As noted in Sec.3.17,the reductionof a systemof forces is considerablysimplified if the forces are resolvedinto rectangular components.ihe force-couple systgmat O is then char(Fig.3.44a) by acterized the components (3.59) M: : M3:2Mo &, :2F, & : >F"

of of Reduction o System Forces 127 3.20 Further

\a)

(b)

Fig. 3.44 To reduce t}e system to a single force R,-we elpress that the moment of R about O must bJequal to M$. Denoting by r and y the coordinatesof the point of application of the resultant and recalling formula (3.22) of Sec. 3.8, we write

x\-AR":MB
whlch representsthe equation of the line of action of R' We -determine directlv the r and q intercepts of the line can also of action of the resultant by noting that U3 must be equal to the moment about O of the y component of R when R is attached at B (Fig. 3.44b) and to the moment of its r component when R is attachedat C (Fig.3.44c). 3. Parallelforces have parallel lines of action and may or may not here that the forcesare parallelto Assuming havethe samesense. we the y axis(Fig. 3.45o), note that their sum R will alsobe paralIel tb the y axis.On the other hand, since the moment 9f a grven^ to force musi be perpendicular that force,the moment aboutO of of tle system,and thus the moment resultant M3, will each force therefore' lie in the zr plane.ifhe force-couplesystemat O consists,

F3

,l

{
\a)

(b)

As noted in Sec.3.17,the reductionof a systemof forces is considerablysimplified if the forces are resolvedinto rectangular components.ihe force-couple systgmat O is then char(Fig.3.44a) by acterized the components (3.59) M: : M3:2Mo &, :2F, & : >F"

of of Reduction o System Forces 127 3.20 Further

\a)

(b)

Fig. 3.44 To reduce t}e system to a single force R,-we elpress that the moment of R about O must bJequal to M$. Denoting by r and y the coordinatesof the point of application of the resultant and recalling formula (3.22) of Sec. 3.8, we write

x\-AR":MB
whlch representsthe equation of the line of action of R' We -determine directlv the r and q intercepts of the line can also of action of the resultant by noting that U3 must be equal to the moment about O of the y component of R when R is attached at B (Fig. 3.44b) and to the moment of its r component when R is attachedat C (Fig.3.44c). 3. Parallelforces have parallel lines of action and may or may not here that the forcesare parallelto Assuming havethe samesense. we the y axis(Fig. 3.45o), note that their sum R will alsobe paralIel tb the y axis.On the other hand, since the moment 9f a grven^ to force musi be perpendicular that force,the moment aboutO of of tle system,and thus the moment resultant M3, will each force therefore' lie in the zr plane.ifhe force-couplesystemat O consists,

F3

,l

{
\a)

(b)

of the wrench. A wrench, therefore, consistsof two collinear vectols, namely, a force R and a couPle vector

of of 3.21 Reduction o System .Forces 129 to o Wrench

Mr=PR

(3.61)

(3.35)obtainedin Sec.3.9 for the projection the Recalling expression a vect"oron the line of action of another vector, we note that the of projection of M$ on the line of action of R is
Mt:

R.M3

asl Thus, the pitch of the wrench can be expressed

y , : M ,= * ' 2 B , R R

(3.62)

To define the aris of the wrench, we can write a relation involving the position vector r of an arbitrary point P located on that axis' Attaching the resultantforce R and couple vector M1 at P (Fig. 3'47) system that the moment about O of this force--c^ouple and expressing force system, is equil to th"e moment resultant M$ of the original we write

M1*rxR:MB Eq. or, recalling (3.61), pR*rxR:MB

(3.63) (3.64)

Axrs ofute

oction Phofo 3.5 The pushing-turning of with the tightening o screw ossocioled linesof octionof the force the illuslroies collineor o ond couplevectorthot constitute wrench.

Fis.3.47
tThe erpressions obtained for the projection of the couple vector on tle line of action of R and for the pitch of the wrench are independent of the choice of point O. Using the relation (3.53) of Sec. 3.17, we note that if a different point O' had been used, the numerator in (3.62) would have been

+ R ' M 3 ,: R ' ( M B s x R ) = R ' M B+ R ' ( s x R )

Since the mixed triple product R . (s x R) is identically equal to zero' we have

R . M B= R . M B
Thus, the scalar product R ' M[ is independent of the choice of point O.

of the wrench. A wrench, therefore, consistsof two collinear vectols, namely, a force R and a couPle vector

of of 3.21 Reduction o System .Forces 129 to o Wrench

Mr=PR

(3.61)

(3.35)obtainedin Sec.3.9 for the projection the Recalling expression a vect"oron the line of action of another vector, we note that the of projection of M$ on the line of action of R is
Mt:

R.M3

asl Thus, the pitch of the wrench can be expressed

y , : M ,= * ' 2 B , R R

(3.62)

To define the aris of the wrench, we can write a relation involving the position vector r of an arbitrary point P located on that axis' Attaching the resultantforce R and couple vector M1 at P (Fig. 3'47) system that the moment about O of this force--c^ouple and expressing force system, is equil to th"e moment resultant M$ of the original we write

M1*rxR:MB Eq. or, recalling (3.61), pR*rxR:MB

(3.63) (3.64)

Axrs ofute

oction Phofo 3.5 The pushing-turning of with the tightening o screw ossocioled linesof octionof the force the illuslroies collineor o ond couplevectorthot constitute wrench.

Fis.3.47
tThe erpressions obtained for the projection of the couple vector on tle line of action of R and for the pitch of the wrench are independent of the choice of point O. Using the relation (3.53) of Sec. 3.17, we note that if a different point O' had been used, the numerator in (3.62) would have been

+ R ' M 3 ,: R ' ( M B s x R ) = R ' M B+ R ' ( s x R )

Since the mixed triple product R . (s x R) is identically equal to zero' we have

R . M B= R . M B
Thus, the scalar product R ' M[ is independent of the choice of point O.

3'9 SAelpLx pRSBLE&1

Four tugboats are used to bring an ocean liner to its pier Each tugboat force in the direction shown. Determine (a) the lQuivalent exertsa"5000-1b ft force-couple system at the foremast O, (b) the point on the hull where a single, mire powerful tugboat should push to produce the same effect as thJ original four tugboats.

I tt.olnpon"nts ^ a, Force-eouple Syriem Et (}. Each of the given forces is resolved into in the-diagram shown (hp units are used). The force-couple f I ,yrt"'- at O equivalent"to the given syitem of forces consistsof a force R M$ defined as follows: ar'rda "oopl" R: )F : (2.50i - 4.33j) + (3.00i - 4.00i) + (-5'00i) + (3.54i+ 354i) : 9.04i - 9.79j

u$: I(r x n)

: (-90i + 50j) x (2.50i- 4.33i) + (looi + 7oj) x (3.ooi- 4.ooi) + (400i+ 70j) x (-5.00i) + (300i- 70j) x (3.54i+ 3.54j) : (390 - L25- 400 - 210 - 2000+ 1062+ 248)k : -1035k

at system O is thus force-couple The equivalent hps)i - (9.7ekips)j MB : -(1035 kip ' ft)k 3 = (9.04 kips fi : 13.:13 X-ti.3 hrl, = 1ii35kip . ti I '+

Remark. Since all the forces are contained in the plane of the ffgure, we could have expectedthe sum of their moments to be perpendicular to that plane. Note tLat the moment of each force componentcould havebeen obtained directly from the diagram by first forying the product_ofits magnitude and perpendicular distince to O and then assigning,tothis product a positive oi a negative sign depen&ng upon the senseof the moment' &" Single Tugboei" The force exerted by-a single tygbo$ must be equal to R, ind itJpoint of application A must be such that the moment of R abo.ri O is equal to Mfi.-Clbservingthat the position vector of A is r:ri+70j we write r x R : M B (ri + 70j) x (e.04i - e'7ej) : -1035k -r(9.79)k - 633k : -1035k

;u- 41'1 li

*:

r3r

3'9 SAelpLx pRSBLE&1

Four tugboats are used to bring an ocean liner to its pier Each tugboat force in the direction shown. Determine (a) the lQuivalent exertsa"5000-1b ft force-couple system at the foremast O, (b) the point on the hull where a single, mire powerful tugboat should push to produce the same effect as thJ original four tugboats.

I tt.olnpon"nts ^ a, Force-eouple Syriem Et (}. Each of the given forces is resolved into in the-diagram shown (hp units are used). The force-couple f I ,yrt"'- at O equivalent"to the given syitem of forces consistsof a force R M$ defined as follows: ar'rda "oopl" R: )F : (2.50i - 4.33j) + (3.00i - 4.00i) + (-5'00i) + (3.54i+ 354i) : 9.04i - 9.79j

u$: I(r x n)

: (-90i + 50j) x (2.50i- 4.33i) + (looi + 7oj) x (3.ooi- 4.ooi) + (400i+ 70j) x (-5.00i) + (300i- 70j) x (3.54i+ 3.54j) : (390 - L25- 400 - 210 - 2000+ 1062+ 248)k : -1035k

at system O is thus force-couple The equivalent hps)i - (9.7ekips)j MB : -(1035 kip ' ft)k 3 = (9.04 kips fi : 13.:13 X-ti.3 hrl, = 1ii35kip . ti I '+

Remark. Since all the forces are contained in the plane of the ffgure, we could have expectedthe sum of their moments to be perpendicular to that plane. Note tLat the moment of each force componentcould havebeen obtained directly from the diagram by first forying the product_ofits magnitude and perpendicular distince to O and then assigning,tothis product a positive oi a negative sign depen&ng upon the senseof the moment' &" Single Tugboei" The force exerted by-a single tygbo$ must be equal to R, ind itJpoint of application A must be such that the moment of R abo.ri O is equal to Mfi.-Clbservingthat the position vector of A is r:ri+70j we write r x R : M B (ri + 70j) x (e.04i - e'7ej) : -1035k -r(9.79)k - 633k : -1035k

;u- 41'1 li

*:

r3r

,l
A square foundation mat supports the four columns shown. Determine the **gnitnd" and point of applicationof the resultantof the four loads'
lJni

,g:!i"itt \
i:: ..t,:

SCIUTION
We first reduce the given system of forces to a force-couple systemat the This force-couplesystemconsistsof a syst_em. origin O of the cooridinate forie R and a couple vector M[ defined as follows:

.l:.. tlul
)tt;

\:
t".!' ':.1: a..' i:;, aa:l:

,l
- (80kips)j - (280kip'ii)l

R:>F

M5:)(rxr)

The position vectors of &e points of application of the various fbrces are detennined, and the computationsare arrangedin tabular form'

Sincethe force R and the couple vector Mfi are mutually pelpendicuIar,the force-couplesystemobtainedcan be reducedfuther to a singleforce R. The new poini of applicationof R will be selectedin the plane of the mat and in such a way that the moment of R about O will be equal to Uf . Denoting by r the position vector of the desiredpoint of application,and by r and we z its coordinates, write rx R :M6 (ri + zk) x (-80j) : 240i* 280k -80rk + 80zi :240i - 280k from which it follows that
x

-80r : -280 r : 3.50ft

R : lifi hps j,

8Oz:240 z : 3.00ft
id "t : 3.50 {1, z : 3.0{} ft 'tri

We conclude that the resultant of the given systemof forces is

r33

,l
A square foundation mat supports the four columns shown. Determine the **gnitnd" and point of applicationof the resultantof the four loads'
lJni

,g:!i"itt \
i:: ..t,:

SCIUTION
We first reduce the given system of forces to a force-couple systemat the This force-couplesystemconsistsof a syst_em. origin O of the cooridinate forie R and a couple vector M[ defined as follows:

.l:.. tlul
)tt;

\:
t".!' ':.1: a..' i:;, aa:l:

,l
- (80kips)j - (280kip'ii)l

R:>F

M5:)(rxr)

The position vectors of &e points of application of the various fbrces are detennined, and the computationsare arrangedin tabular form'

Sincethe force R and the couple vector Mfi are mutually pelpendicuIar,the force-couplesystemobtainedcan be reducedfuther to a singleforce R. The new poini of applicationof R will be selectedin the plane of the mat and in such a way that the moment of R about O will be equal to Uf . Denoting by r the position vector of the desiredpoint of application,and by r and we z its coordinates, write rx R :M6 (ri + zk) x (-80j) : 240i* 280k -80rk + 80zi :240i - 280k from which it follows that
x

-80r : -280 r : 3.50ft

R : lifi hps j,

8Oz:240 z : 3.00ft
id "t : 3.50 {1, z : 3.0{} ft 'tri

We conclude that the resultant of the given systemof forces is

r33

t-fihis lessonwas devoted to the reduction and simplification of force systems. the I In solrritrg problems which follow, you will be askedto perform the operabelow. tions discussed

E L Reducing force sysfemfo s force ond s couple ct o given point A" The forces; the by and forceis thelesultanrR of the system is obtained adding various
the moment of the couple is the mament resultant of the sptem and is obtained by adding the momentJ about A of the various forces. We have

Ml:XrxF)
where the position vectol r is drawn from A to any point on the line of action of F.
ai:::: ::a:::::::

.*..:
:::li:::;: :::::::;:i

2. i,loving s force-couple sysfem from point A to poinf B. If you wish to reduce u [i.'"n force sysiem to a force-couple system at point B after you hlve the not r_ecom_pute reduced ii to a force-couple system at point A, you need_ remainsunchanged,and the new moments of the forces about A.'the resultant R moment resultant Mfi can be obtained by adding to Mf; the moment about B of the force R applied at A lsample Prob. 3.8]. Denoting by s the vector drawn from B to A. you can write

|li,:

a:aa]:.t

::.:::
J.::l:,:

.:;::,,

Mf:Mf+sxn
3. Checking whefher ?wo farce sYstems ore equivclent First reduce each force systeil to a force-couple system at the samn, but arbitrary,_point A (as explainld in paragraph r). The two systemsare equivalent (that is, they have the saine effect on tf,e given rigid body) if the two force-couple systemsyou have obtained are identical. that is, if )F : )F' and )Ma : )Mi

..,:. :=
,,:l;::
i:::,1'ia::::'.::,. :':t:.:.:::

a.a..a':a::

,:.':,::l:' :.:::r i: a:':::,a

..::.:

You should recognizethat if the first of these equationsis not satisfied,that is, if cannot be the two systems-donot have the same resultant R, the two _systems no need to checkwhether or not the secondequation equivaleni and there is then is satisfied. 4, Redrcing c given force system to s single force. First_reduce the given ofthe resultantR and the couple-vector systemconsisting to system a force-couple poittt a (asexplainedin paragraph1). You will recall from Mfi ut ,orrl" convenie'nt the previous lessonthat further reduction to a single force is possibleonly if the (contirrued)

135

t-fihis lessonwas devoted to the reduction and simplification of force systems. the I In solrritrg problems which follow, you will be askedto perform the operabelow. tions discussed

E L Reducing force sysfemfo s force ond s couple ct o given point A" The forces; the by and forceis thelesultanrR of the system is obtained adding various
the moment of the couple is the mament resultant of the sptem and is obtained by adding the momentJ about A of the various forces. We have

Ml:XrxF)
where the position vectol r is drawn from A to any point on the line of action of F.
ai:::: ::a:::::::

.*..:
:::li:::;: :::::::;:i

2. i,loving s force-couple sysfem from point A to poinf B. If you wish to reduce u [i.'"n force sysiem to a force-couple system at point B after you hlve the not r_ecom_pute reduced ii to a force-couple system at point A, you need_ remainsunchanged,and the new moments of the forces about A.'the resultant R moment resultant Mfi can be obtained by adding to Mf; the moment about B of the force R applied at A lsample Prob. 3.8]. Denoting by s the vector drawn from B to A. you can write

|li,:

a:aa]:.t

::.:::
J.::l:,:

.:;::,,

Mf:Mf+sxn
3. Checking whefher ?wo farce sYstems ore equivclent First reduce each force systeil to a force-couple system at the samn, but arbitrary,_point A (as explainld in paragraph r). The two systemsare equivalent (that is, they have the saine effect on tf,e given rigid body) if the two force-couple systemsyou have obtained are identical. that is, if )F : )F' and )Ma : )Mi

..,:. :=
,,:l;::
i:::,1'ia::::'.::,. :':t:.:.:::

a.a..a':a::

,:.':,::l:' :.:::r i: a:':::,a

..::.:

You should recognizethat if the first of these equationsis not satisfied,that is, if cannot be the two systems-donot have the same resultant R, the two _systems no need to checkwhether or not the secondequation equivaleni and there is then is satisfied. 4, Redrcing c given force system to s single force. First_reduce the given ofthe resultantR and the couple-vector systemconsisting to system a force-couple poittt a (asexplainedin paragraph1). You will recall from Mfi ut ,orrl" convenie'nt the previous lessonthat further reduction to a single force is possibleonly if the (contirrued)

135

2300 N.rn

j
,900 \'

{
200N'rn

2.100N.m I

r I r;oo

N l3oo
I

{ i' t
2 0 0\ . m

_du r.,,,

r--r-=---*w;j) \ E*-----

d,r.,,,
Fig. P3.l0l

3.t01

(a) to A 4-mJong beam is subjected a varietyof loadings. Replace eachloadingwith an equivalentforce-couplesystemat end A ot the beam. (b) Which of the loadingsare equivalent?

200\

3.102 A 4-m-lonqbeam is loaded as shown. Determine the loading of Prob. 3.101which is equivalent to this loading. force and the &stance{rom point A 3.103 Determine the singleequivalent to its line of action foi the beam and loading of (a) Prob. 3.101b, (b) Prob.3.101d, Prob.3.101e. (c) act systems at the cornersof a piece of force-couple 3.104 Five separate sheet metal, which has been bent into the shape shown. Determine which of these svstemsis equivalent to a force F : (10 lb)i and a couple of moment M : (15 lb ' ft)j + (15 lb ' ft)k located at the origin.

'1"
B r i

;]b.1t t0 lb

:; Ib.fty')
2.5ft

13{
2fr
15lb.Ii

\-T;l.n

2ft

Fig. P3.104

2300 N.rn

j
,900 \'

{
200N'rn

2.100N.m I

r I r;oo

N l3oo
I

{ i' t
2 0 0\ . m

_du r.,,,

r--r-=---*w;j) \ E*-----

d,r.,,,
Fig. P3.l0l

3.t01

(a) to A 4-mJong beam is subjected a varietyof loadings. Replace eachloadingwith an equivalentforce-couplesystemat end A ot the beam. (b) Which of the loadingsare equivalent?

200\

3.102 A 4-m-lonqbeam is loaded as shown. Determine the loading of Prob. 3.101which is equivalent to this loading. force and the &stance{rom point A 3.103 Determine the singleequivalent to its line of action foi the beam and loading of (a) Prob. 3.101b, (b) Prob.3.101d, Prob.3.101e. (c) act systems at the cornersof a piece of force-couple 3.104 Five separate sheet metal, which has been bent into the shape shown. Determine which of these svstemsis equivalent to a force F : (10 lb)i and a couple of moment M : (15 lb ' ft)j + (15 lb ' ft)k located at the origin.

'1"
B r i

;]b.1t t0 lb

:; Ib.fty')
2.5ft

13{
2fr
15lb.Ii

\-T;l.n

2ft

Fig. P3.104

. 3.109 A couple o{magnitude M = 54lb in. and the three forcesshown are applied to an angle bracket. (a) Find the resultant of this^system 6f forces. (b) Locate the points where the line of action of the resultant intersectsline AB and line BC. 3.ll0 A couple M and the three forces shown are applied to an angle bracket. Find the moment of the couple if the line of action of the resultant of the force systemis to passthrough (a) point A, (b) point B' (c) point C. Four forcesact on a 700 x 375-mm plate as shown.(a) Find the resultant of these forces. (b) Locate the two points where the line of action of the resultant intersectsthe edge of the plate. Fig. P3.109 ond P3.llO

Problems 39 |

3.Itl

340N

that the 760-N force is directedto the 3.112 SolveProb. 3.111,assuming right. 3,113 A truss supports the loading shown. Determine the equivalent force acting-on the truss and the point of intersection of its line of action with a line drawn through points A and G'

8ft_*F-8ft

I'

lb 180 Fig. P3.ll3 3.114 Pulleys A and B are mounted on bracket CDEF. The tension on each side of the two belts is as shown. Replacethe four forceswith a single equivalent force, and determine where its line of action intersectsthe bottom edee of the bracket.
r=zIn. r=,1t1n
, l .

210lb :- - t50 lb
zD-

2in

-J-

t/ -rr J4_ I in.

t
1b 120 ib 160
640 mm

tig. P3.t14 to 3.115 A machinecomponentis subjected the forcesand couplesshown. The componentis to be held in place by a single rivet that can resist a force but not a couple. For P : 0, determine the location of the rivet hole if it is to be located (a) on line FC, (b) on line GH. that P : 60 N. 3.116 SolveProb. 3.115,assuming Fig. P3.tl5

. 3.109 A couple o{magnitude M = 54lb in. and the three forcesshown are applied to an angle bracket. (a) Find the resultant of this^system 6f forces. (b) Locate the points where the line of action of the resultant intersectsline AB and line BC. 3.ll0 A couple M and the three forces shown are applied to an angle bracket. Find the moment of the couple if the line of action of the resultant of the force systemis to passthrough (a) point A, (b) point B' (c) point C. Four forcesact on a 700 x 375-mm plate as shown.(a) Find the resultant of these forces. (b) Locate the two points where the line of action of the resultant intersectsthe edge of the plate. Fig. P3.109 ond P3.llO

Problems 39 |

3.Itl

340N

that the 760-N force is directedto the 3.112 SolveProb. 3.111,assuming right. 3,113 A truss supports the loading shown. Determine the equivalent force acting-on the truss and the point of intersection of its line of action with a line drawn through points A and G'

8ft_*F-8ft

I'

lb 180 Fig. P3.ll3 3.114 Pulleys A and B are mounted on bracket CDEF. The tension on each side of the two belts is as shown. Replacethe four forceswith a single equivalent force, and determine where its line of action intersectsthe bottom edee of the bracket.
r=zIn. r=,1t1n
, l .

210lb :- - t50 lb
zD-

2in

-J-

t/ -rr J4_ I in.

t
1b 120 ib 160
640 mm

tig. P3.t14 to 3.115 A machinecomponentis subjected the forcesand couplesshown. The componentis to be held in place by a single rivet that can resist a force but not a couple. For P : 0, determine the location of the rivet hole if it is to be located (a) on line FC, (b) on line GH. that P : 60 N. 3.116 SolveProb. 3.115,assuming Fig. P3.tl5

3.t21

While using a pencil sharpener,a student applies the forces and couple shorin. (a) Determine the forces exerted at B and C knowing that these forces and the couple are equivalent-to a forceofthe lorce R : (2.6 lb)i t RrJ couple systemat A consisting (o.z lb)k'and the couple Ml I u,i + (1.0 Ib ' ft)j - (0.72lb ' fok. (b) Find the correspondingvalues of Ro and M".

Problems | l4

Fig. P3.l2l 3.122 A mechanic uses a crowfoot wrench to loosen a bolt at C. The mechanic holds the socket wrench handle at points A and B ancl appliesforces at these points. Knowing that these forcesare equival"ttt to a force-couple system at C consisting of the force C : -(8 lb)i + (4lb)k and the coupleM6 : (3601b ' in.)i, determine the forcesappliedat A and at B when A,: 21b. 3,123 As an adjustablebrace BC is used to bring a wall into plumb, the force-couplesystemshown is exerted on the wall. Replacethis force-couple systemwith an equivalent force-couple system at A if R : 2L2lb and M : 13.25lb . ft.

Fig. P3.122

9 6 in.

Eis, P3,t23

3.t21

While using a pencil sharpener,a student applies the forces and couple shorin. (a) Determine the forces exerted at B and C knowing that these forces and the couple are equivalent-to a forceofthe lorce R : (2.6 lb)i t RrJ couple systemat A consisting (o.z lb)k'and the couple Ml I u,i + (1.0 Ib ' ft)j - (0.72lb ' fok. (b) Find the correspondingvalues of Ro and M".

Problems | l4

Fig. P3.l2l 3.122 A mechanic uses a crowfoot wrench to loosen a bolt at C. The mechanic holds the socket wrench handle at points A and B ancl appliesforces at these points. Knowing that these forcesare equival"ttt to a force-couple system at C consisting of the force C : -(8 lb)i + (4lb)k and the coupleM6 : (3601b ' in.)i, determine the forcesappliedat A and at B when A,: 21b. 3,123 As an adjustablebrace BC is used to bring a wall into plumb, the force-couplesystemshown is exerted on the wall. Replacethis force-couple systemwith an equivalent force-couple system at A if R : 2L2lb and M : 13.25lb . ft.

Fig. P3.122

9 6 in.

Eis, P3,t23

3.129 Four signs are mounted on a frame spanning a higlway, and the the signsare,as magnitudesof the horizontal wind forces acting o^n the shoi"n. Determine the magnitudeand the point of application-of forces when a : I ft and b : 12 ft' resultant of the four wind

Problems 43 |

l_) m

Fig. P3.l3I Fig. P3.129ond P3.l3O 3.130 Four signs are mounted on a frame spanning a highway, and the magnitudes of the horizontal wind forces acting on the signs are Jho*tt. Determine a and b so that the point of application of "r the resultant of the four forces is at G. .3.131 A group of students loads a 2 x 3.3-m flatbed trailer with two 0.66 x 0.66 x 0.66-m boxesand one 0.66 x 0.66 X 1.2-m box. Each of the boxesat the rear of the trailer is positionedso that it is aliqnedwith both the back and a side of the trailer. Determine the smallestload the studentsshould place in a second0.66 x 0'66 x 1.2-m box and where on the trailer they should secureit, without the any part ofthe box overhanging sidesofthe trailer, ifeach box is uniformly loaded and the line of action of the resultant of the weights of the four boxesis to pass through the point of intersection of the centerlinesof the trailer and the axle.(Hint: Keep in mind that the box may be placed either on its side or on its end.) *3.t32 want to place as much weight as SolveProb. 3.131if the students possible in the fourth box and at least one side of the box must coincide with a side of the trailer. Three forces of the same magnitude P act on a cube of side a as shown. Replacethe three forces by an equivalentwrench and determine (a) the magnitude and direction of the resultant force R, (b) the pitch of the wrench, (c) the axis of the wrench.

.1 r
_.*.>

I _____-.-t.tx

I a

o--oT'
Fig. P3.133

,l

.3.133

*3.134 A piece of sheet metal is bent into the shape shown and is acted upbn by three forces. If the forces have the same magnitude P, replace them with an equivalent wrench and determine (a) the magnitude and the direction of the resultant force R, (b) the pitch of the wrench, (c) the axis of the wrench.

Fig. P3.134

3.129 Four signs are mounted on a frame spanning a higlway, and the the signsare,as magnitudesof the horizontal wind forces acting o^n the shoi"n. Determine the magnitudeand the point of application-of forces when a : I ft and b : 12 ft' resultant of the four wind

Problems 43 |

l_) m

Fig. P3.l3I Fig. P3.129ond P3.l3O 3.130 Four signs are mounted on a frame spanning a highway, and the magnitudes of the horizontal wind forces acting on the signs are Jho*tt. Determine a and b so that the point of application of "r the resultant of the four forces is at G. .3.131 A group of students loads a 2 x 3.3-m flatbed trailer with two 0.66 x 0.66 x 0.66-m boxesand one 0.66 x 0.66 X 1.2-m box. Each of the boxesat the rear of the trailer is positionedso that it is aliqnedwith both the back and a side of the trailer. Determine the smallestload the studentsshould place in a second0.66 x 0'66 x 1.2-m box and where on the trailer they should secureit, without the any part ofthe box overhanging sidesofthe trailer, ifeach box is uniformly loaded and the line of action of the resultant of the weights of the four boxesis to pass through the point of intersection of the centerlinesof the trailer and the axle.(Hint: Keep in mind that the box may be placed either on its side or on its end.) *3.t32 want to place as much weight as SolveProb. 3.131if the students possible in the fourth box and at least one side of the box must coincide with a side of the trailer. Three forces of the same magnitude P act on a cube of side a as shown. Replacethe three forces by an equivalentwrench and determine (a) the magnitude and direction of the resultant force R, (b) the pitch of the wrench, (c) the axis of the wrench.

.1 r
_.*.>

I _____-.-t.tx

I a

o--oT'
Fig. P3.133

,l

.3.133

*3.134 A piece of sheet metal is bent into the shape shown and is acted upbn by three forces. If the forces have the same magnitude P, replace them with an equivalent wrench and determine (a) the magnitude and the direction of the resultant force R, (b) the pitch of the wrench, (c) the axis of the wrench.

Fig. P3.134

*7JA6

cables A fleeooleis guyed by three cables.ff the tensionsin the tutrrJ*ug"it"de P, replacethe forces exertedon the pole hu* TL" with an equivalenl wrench and determine (a) the resultant force R, (b) the pit"h of the wrench, (c) the point where the axis of the wrench intersectsthe re plane.

Problems | 45

,,N
Fig. P3.140 *3.f41 system o,nd *3,142 Determine whether the force-and-couple shown can be reduced to a single equivalent force R. If it can, determine R and the point where the line of action of R intersects the ya plane. If it cannot be so reduced, replace the given system with an equivalent wrench and determine its resultant, its pitch, and the point where its axis intersects the yz plane.

t\,

oi.fi \l

K../

16ollr:lr

Fig. P3.l4l *3.143 Replace the wrench shown with an equivalent system consisting of two forces perpendicular to the y axis and applied respectively at A and B. *3.144 Show that, in general, a wrench can be replaced with two forces chosenin such a way that one force passesthrough a given point while the other force lies in a given plane. *3.145 Show that a wrench can be replaced with two perpendicular forces, one ofwhich is applied at a given point. *3.tlt6 Showthat a wrench can be replacedwith two forces,one of which
has a prescribed line of action.

Fig. F.g. P3.t42

,.. z Fig. P3.143

t't

NI iar*

*7JA6

cables A fleeooleis guyed by three cables.ff the tensionsin the tutrrJ*ug"it"de P, replacethe forces exertedon the pole hu* TL" with an equivalenl wrench and determine (a) the resultant force R, (b) the pit"h of the wrench, (c) the point where the axis of the wrench intersectsthe re plane.

Problems | 45

,,N
Fig. P3.140 *3.f41 system o,nd *3,142 Determine whether the force-and-couple shown can be reduced to a single equivalent force R. If it can, determine R and the point where the line of action of R intersects the ya plane. If it cannot be so reduced, replace the given system with an equivalent wrench and determine its resultant, its pitch, and the point where its axis intersects the yz plane.

t\,

oi.fi \l

K../

16ollr:lr

Fig. P3.l4l *3.143 Replace the wrench shown with an equivalent system consisting of two forces perpendicular to the y axis and applied respectively at A and B. *3.144 Show that, in general, a wrench can be replaced with two forces chosenin such a way that one force passesthrough a given point while the other force lies in a given plane. *3.145 Show that a wrench can be replaced with two perpendicular forces, one ofwhich is applied at a given point. *3.tlt6 Showthat a wrench can be replacedwith two forces,one of which
has a prescribed line of action.

Fig. F.g. P3.t42

,.. z Fig. P3.143

t't

NI iar*

Using a determinant, we also wrote

ond Review Summory 147

lr n : lt, Pv P,l lQ' Q, Q,l

M o : r X F

kl
(3.10)

of The m.omnnt a force F abant a point O was defined fSec.3.6] as the vector product

Momentof a fsrce about o point

(3.11)

aector drawn from O to the point of applicawhere r is the posi,ti,on the force F (Fig. 3.5I). Denoting by 0 the anglebetween tion A of the lines of action of r aid F, we found tlai the -ugttit,rd" of the as moment of F about O can be expressed Mo:rFsin0:Fd

(3.12)
Fig. 3.51

where d representsthe perpendicular distancefrom O to the line of action of F. Mo The rectangular componentsof the m,om,ent of a force F were expressed [Sec.3.8] as Mr: yF" - zF, (3.18) Mr:zFr-xF^ M ^ : x F o- U F , of z where x, r:!, arc the components the positionvector r (Fig. 3'52)' Using a determinant form, we also wrote

of components rnornent Rectcngulor

A (x,g,z) F,i

l1r" j l,lo:

kl
zl

ln F, F,l

(3.19)

In the more general caseof the moment about an arbitrary point B of a force F applied at A, we had

Mr
where xun, Awn, andzsp XA1B: Xd - Xn

I r =
:

k l

Fig. 3.52

lro6 lF"

Uen zercl Fv F.l

ZA/B : Za -

(3.2r)
of the vector r4is: Zn

denote the components lerc Aa Us

In the caseof problems inaoluing only tuoodimensions,the force F can be assumedto lie in the xy plane. Its moment Ms about a point B in the sameplane is pelpendicular to that plane (Flg. 3.53) and is completely defined by the scalar (3.23) Mn : (xe - *u)Fv - (Ao - AilFr Variousmethodsfor the computationof the moment of a force about a point were illustratedin SampleProbs.3.1 through 3.4.

\l- = 11k

Fig. 3.53

The scalar prod.uct of two vectors P and Q fSec, 3.9] was denoted Scolqr product of two vectors by P ' Q and was defined as the scalarquantity P'Q:PQcoso

(3.24)

Using a determinant, we also wrote

ond Review Summory 147

lr n : lt, Pv P,l lQ' Q, Q,l

M o : r X F

kl
(3.10)

of The m.omnnt a force F abant a point O was defined fSec.3.6] as the vector product

Momentof a fsrce about o point

(3.11)

aector drawn from O to the point of applicawhere r is the posi,ti,on the force F (Fig. 3.5I). Denoting by 0 the anglebetween tion A of the lines of action of r aid F, we found tlai the -ugttit,rd" of the as moment of F about O can be expressed Mo:rFsin0:Fd

(3.12)
Fig. 3.51

where d representsthe perpendicular distancefrom O to the line of action of F. Mo The rectangular componentsof the m,om,ent of a force F were expressed [Sec.3.8] as Mr: yF" - zF, (3.18) Mr:zFr-xF^ M ^ : x F o- U F , of z where x, r:!, arc the components the positionvector r (Fig. 3'52)' Using a determinant form, we also wrote

of components rnornent Rectcngulor

A (x,g,z) F,i

l1r" j l,lo:

kl
zl

ln F, F,l

(3.19)

In the more general caseof the moment about an arbitrary point B of a force F applied at A, we had

Mr
where xun, Awn, andzsp XA1B: Xd - Xn

I r =
:

k l

Fig. 3.52

lro6 lF"

Uen zercl Fv F.l

ZA/B : Za -

(3.2r)
of the vector r4is: Zn

denote the components lerc Aa Us

In the caseof problems inaoluing only tuoodimensions,the force F can be assumedto lie in the xy plane. Its moment Ms about a point B in the sameplane is pelpendicular to that plane (Flg. 3.53) and is completely defined by the scalar (3.23) Mn : (xe - *u)Fv - (Ao - AilFr Variousmethodsfor the computationof the moment of a force about a point were illustratedin SampleProbs.3.1 through 3.4.

\l- = 11k

Fig. 3.53

The scalar prod.uct of two vectors P and Q fSec, 3.9] was denoted Scolqr product of two vectors by P ' Q and was defined as the scalarquantity P'Q:PQcoso

(3.24)

3'12]'It a;e sense saidt0 form t-caryl! [Sec' nati.nn, opposite rmd

Ttaoforces F and -F

mngnitude'-pa-rallel lines of haaingthe sa.m,e

Couples

Reviewond Summory 149

was shown that the moment of a couple is independent of the point about which it is computed; it is a vector M perpendicular to the plane of the couple aid eq.tal in magnitude to the product of the io--on magnitudeF of the forces and the perpen&cular distanced betweentheir lines of action (Fig. 3.57). Two couples having the same moment M are equioalent,-i'e.,they, have the-same effect on a given rigid body lsec' 3.131.The sum of two couples is itself a couple lSec. g.t+], and the moment M of the resulltant couple can be obtained by adding vectorially -the Fig. 3.57 momentsM1 and M2 of the original couplesfsample Prob. 3'6]. It follows that a couple can be repiesented by a vector, called a couple^ oector, equal in hagnitude and direction to the moment M of which can be the coupld iSec. 3.15L A couple vector is afree Dec'tor origin O if so desired and resolvedinto components attachedto the (Fie. 3.58).

al

I
I
'-L

=
./

/?:fi
tlt

ol r.

,$Nr,

"

\a)

\c)

(d)

Fig. 3.58

Any force F acting at a point A of a rigid body can be replaced by Force-couple system ^iorrn-touple systemat in arbitrary point O, consistingof the force F applied at O and a couple of moment M6 equal to the moment abo"l O of the force F in its original position [Sec' 3.16]; it should be noted that the force F and the couple vector M6 are alwaysperpendicularto each other (Fig. 3.59).

Fig. 3.59

of It follows fSec.3.171that any sIJStem forces canbe reducedto a system at a gi,oenpoint O by first replacing each of force-couple the forces of the systemby an equivalent force-couple systemat C)

of R.eductisn c systemaf forcer system fo c $orce'couple

3'12]'It a;e sense saidt0 form t-caryl! [Sec' nati.nn, opposite rmd

Ttaoforces F and -F

mngnitude'-pa-rallel lines of haaingthe sa.m,e

Couples

Reviewond Summory 149

was shown that the moment of a couple is independent of the point about which it is computed; it is a vector M perpendicular to the plane of the couple aid eq.tal in magnitude to the product of the io--on magnitudeF of the forces and the perpen&cular distanced betweentheir lines of action (Fig. 3.57). Two couples having the same moment M are equioalent,-i'e.,they, have the-same effect on a given rigid body lsec' 3.131.The sum of two couples is itself a couple lSec. g.t+], and the moment M of the resulltant couple can be obtained by adding vectorially -the Fig. 3.57 momentsM1 and M2 of the original couplesfsample Prob. 3'6]. It follows that a couple can be repiesented by a vector, called a couple^ oector, equal in hagnitude and direction to the moment M of which can be the coupld iSec. 3.15L A couple vector is afree Dec'tor origin O if so desired and resolvedinto components attachedto the (Fie. 3.58).

al

I
I
'-L

=
./

/?:fi
tlt

ol r.

,$Nr,

"

\a)

\c)

(d)

Fig. 3.58

Any force F acting at a point A of a rigid body can be replaced by Force-couple system ^iorrn-touple systemat in arbitrary point O, consistingof the force F applied at O and a couple of moment M6 equal to the moment abo"l O of the force F in its original position [Sec' 3.16]; it should be noted that the force F and the couple vector M6 are alwaysperpendicularto each other (Fig. 3.59).

Fig. 3.59

of It follows fSec.3.171that any sIJStem forces canbe reducedto a system at a gi,oenpoint O by first replacing each of force-couple the forces of the systemby an equivalent force-couple systemat C)

of R.eductisn c systemaf forcer system fo c $orce'couple

3.147 A crate of mass 80 kg is held in the position shown. Determine (a) the moment produced by the weight W of the crate about E, (b) the smallestforce applied at B that createsa moment of equal magnitude and opposite senseabout E. 3.148 It is known that the connectingrod AB exertson the crank BC a 1.5-kN force directed down and to the left along the centerline of AB. Determine the moment of the force about C. 3.149 A 6-ftJong fishing rod AB is securelyanchoredin the sand of a beach. After a fish takes the bait, the resulting force in the line is 6 lb. Determine the mornent about A of the force exerted by the Iine at B.

o['o"'-1-"" ]rQ

Fig. P3.147

/ z rTlln

Fis. P3.149

-T

+
28 inrn

I I

3.150 RopesAB and BC are two of the ropes used to support a tent. The two ropes are attached to a stake at B. If the tension in rope AB is 540 N, determine (a) the angle between rope AB and the stake, (b) the projection on the stake of the force exerted by rope AB at point B.

21 mm Fig. P3.I48

Detail of the stake at B

t5l

3.147 A crate of mass 80 kg is held in the position shown. Determine (a) the moment produced by the weight W of the crate about E, (b) the smallestforce applied at B that createsa moment of equal magnitude and opposite senseabout E. 3.148 It is known that the connectingrod AB exertson the crank BC a 1.5-kN force directed down and to the left along the centerline of AB. Determine the moment of the force about C. 3.149 A 6-ftJong fishing rod AB is securelyanchoredin the sand of a beach. After a fish takes the bait, the resulting force in the line is 6 lb. Determine the mornent about A of the force exerted by the Iine at B.

o['o"'-1-"" ]rQ

Fig. P3.147

/ z rTlln

Fis. P3.149

-T

+
28 inrn

I I

3.150 RopesAB and BC are two of the ropes used to support a tent. The two ropes are attached to a stake at B. If the tension in rope AB is 540 N, determine (a) the angle between rope AB and the stake, (b) the projection on the stake of the force exerted by rope AB at point B.

21 mm Fig. P3.I48

Detail of the stake at B

t5l

are 3.156 Four ro'oes attachedto a crate and exert the forcesshown' Ifthe forces alreto be replaced with a single equivalent force applied at a point on line AB, ?etermine (a) the equivalentforce and the disiance from A to the point of applicationofthe force when a : 30o, (b) the value of a so that the single equivalent force is applied at point B. 3.157 A blade held in a braceis usedto tighten a screwat A. (a) Determine the forcesexertedat B and C, knowing that theseforcesare equivalent to a force-couplesystemat A consistingof R : -(30 N)i + N 'm)i. (b) Find the corresponding .R,/j+ n"k and M] :'-02 (c) What is the orientation of the slot in the values of R" and R,. head of the screw for which the blade is least likelv to slip when Fig. P3.156 the brace is in the position shown?

Problems | 53 Review i60 lb

Fig. P3.I57

3,158 A concrete foundation mat in the shape of a regular hexagonof side 12 ft supports four column loads as shown. Determine the magnitudesof the additionalloadsthat must be applled at B and F if ihe resultant of all six loads is to pass through the center of the mat.

Fig. P3.158

are 3.156 Four ro'oes attachedto a crate and exert the forcesshown' Ifthe forces alreto be replaced with a single equivalent force applied at a point on line AB, ?etermine (a) the equivalentforce and the disiance from A to the point of applicationofthe force when a : 30o, (b) the value of a so that the single equivalent force is applied at point B. 3.157 A blade held in a braceis usedto tighten a screwat A. (a) Determine the forcesexertedat B and C, knowing that theseforcesare equivalent to a force-couplesystemat A consistingof R : -(30 N)i + N 'm)i. (b) Find the corresponding .R,/j+ n"k and M] :'-02 (c) What is the orientation of the slot in the values of R" and R,. head of the screw for which the blade is least likelv to slip when Fig. P3.156 the brace is in the position shown?

Problems | 53 Review i60 lb

Fig. P3.I57

3,158 A concrete foundation mat in the shape of a regular hexagonof side 12 ft supports four column loads as shown. Determine the magnitudesof the additionalloadsthat must be applled at B and F if ihe resultant of all six loads is to pass through the center of the mat.

Fig. P3.158

3.C5 A body is acted upon by a system of n forces. Write a computer program thai catr be used to calculate the equivalent force-couple system 'at tfie orisin of the coordrnateaxesand to determine, if the equivalentforce the point of couple are ofthogonal, the magnitudS^and and the e"quivalent of the original force system'Use application in the xa plane of the resultant tti progru* to solve(a) Prob. 3.113,(b) Prob. 3.12b,(c) Prob' 3'127' 3.G6 Two cylindrical ducts,AB and CD, enter a room through two parallel walls. The centerlines of the ducts are parallel to each other but are not perpendicular to the walls. The ducts ari to be connected by two flexible itbo*r and a straight center portion. Write a computer program that can be used to determine the lenglhs of AB and cD that minimize the distance of between the a.'ris the straightportion and a thermometer mounted on the wall at E. Assume that the elbows are of negligible length and that AB - 4i + 4k)/9 and \6p : and CD have centerlines defined by }'or : gi (-7i + 4j - 4k)/9 and can vary in length from 9 in. to 36 in.

ProblemsI55 Computer

Fig. P3.C5

;[,,

Fig. P3.C6

3.C5 A body is acted upon by a system of n forces. Write a computer program thai catr be used to calculate the equivalent force-couple system 'at tfie orisin of the coordrnateaxesand to determine, if the equivalentforce the point of couple are ofthogonal, the magnitudS^and and the e"quivalent of the original force system'Use application in the xa plane of the resultant tti progru* to solve(a) Prob. 3.113,(b) Prob. 3.12b,(c) Prob' 3'127' 3.G6 Two cylindrical ducts,AB and CD, enter a room through two parallel walls. The centerlines of the ducts are parallel to each other but are not perpendicular to the walls. The ducts ari to be connected by two flexible itbo*r and a straight center portion. Write a computer program that can be used to determine the lenglhs of AB and cD that minimize the distance of between the a.'ris the straightportion and a thermometer mounted on the wall at E. Assume that the elbows are of negligible length and that AB - 4i + 4k)/9 and \6p : and CD have centerlines defined by }'or : gi (-7i + 4j - 4k)/9 and can vary in length from 9 in. to 36 in.

ProblemsI55 Computer

Fig. P3.C5

;[,,

Fig. P3.C6