4.

Resultants of Noncoplanar Force Systems

4.1. Noncoplanar Force Systems
Noncoplanar force systems are described as follows. A concurrent system consists of forces that intersect at a point. A
parallel system consists of forces that intersect at infinity. The most general system is called non-concurrent, nonparallel (or
skew), and, as the name implies, the forces are not all concurrent and not all parallel.

4.2. Resultants of a Noncoplanar Force System

The resultant of a noncoplanar force system is a forceR and a couple M, where R = ∑ F, the vector sum of all forces of the
system, and M = ∑ M, the vector sum of the moments (relative to a selected base point) of all the forces of the system. The
value of R is independent of the choice of the base point, but the value of M depends on the base point. For any force system it
is possible to select a unique base point so that the vector M representing the couple is parallel to R. This special combination
is called a wrench or screw.

The vector equations in the preceding paragraph may be applied directly to noncoplanar systems to determine the resultant,
or the following derived scalar equations may be used.

4.3. Concurrent System

The resultant R may be (a) a single force through the concurrence or (b) zero. Algebraically,

(4.1)

with direction cosines

(4.2)

where ∑ F x, ∑ F y, ∑ F z = algebraic sums of the x-, y-, and z-components, respectively, of the

forces of the system

θ x, θ y, θ z = angles that the resultant R makes with the x-, y-, and z-axes, respectively.

4.4. Parallel System

The resultant may be (a) a single force R parallel to the system, (b) a couple, or (c) zero. Assume the y-axis is parallel to the
system. Then, algebraically,

(4.3)

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where ∑ F = algebraic sum of the forces of the system

= perpendicular distance from the yz-plane to the resultant

= perpendicular distance from the xy-plane to the resultant

∑ M x, ∑M z = algebraic sums of the moments of the forces of the system about the x- and

z-axes, respectively.

If ∑ F = 0, the resultant couple M, if there is one, will be determined by the following equation:

(4.4)

where = angle that the vector representing the resultant couple makes with the x-axis.

4.5. Nonconcurrent, Nonparallel System

As already indicated, the resultant is a force and a couple where the couple varies with the choice of a base point. In the
following discussion, a set of x-, y-, and z-axes is placed with their origin at the base point.

Replace each force of the given system by the following setup: (1) an equal parallel force but acting through any chosen origin
and (2) a couple acting in the plane containing the given force and the origin.

The magnitude of the resultant R of the concurrent system at the origin is given by the equation

(4-5)

with direction cosines

(4.6)

where the above quantities have the same meaning as listed in Section 4.3.

The magnitude of the resultant couple M is given by

(4.7)

with direction cosines

(4.8)

where ∑ M x, ∑ My, ∑ M z = algebraic sums of the moments of the forces of the system about the x-, y-,

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 andz-axes, respectively

= angles which the vector representing the couple M makes with the x-, y-,

and z-axes, respectively.

4.6. SOLVED PROBLEMS

In the following problems, equivalent scalar equations are used when more convenient than the vector equations. Similarly,
in the diagrams the forces are indicated by their magnitudes if the directions are clearly indicated.

4.1. Forces of 20, 15, 30, and 50 N are concurrent at the origin and are directed through the points whose coordinates are (2,1,
6), (4, −2, 5), (−3, −2,1), and (5, 1, −2), respectively. Determine the resultant of the system.Solution

F COORDINATES cos θx cos θy cos θz Fx Fy Fz

20 (2, 1, 6) 6.26 3.12 18.8

15 (4, −2, 5) 8.96 −4.47 11.2

30 (−3, −2, 1) −24.1 −16.1 8.04

50 (5, 1, −2) 45.6 9.15 −18.3

The denominator in each case is determined by taking the square root of the sum of the squares of x-, y-, and z-intervals of
differences. For the 30-N force, this is . F x is the product of F and cos θ x: ∑ F x = 6.26
+ 8.96 − 24.1 + 45.6 = 36.7. Similarly, ∑ F y = −8.30 and ∑ Fz = 19.7. Then

The negative value of cos θ y signifies that the resultant has a negative component in the y-direction. This is illustrated in
Fig. 4-1.

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 Figure 4-1

4.2. Three forces of 20 N, − 10 N, and 30 N are shown in Fig. 4-2. The y-axis is chosen parallel to the action lines of the forces.
These lines pierce the xz-plane at the points whose x- and z-coordinates in meters are, respectively, (2, 3), (4, 2), and (7, 4).
Locate the resultant.

Figure 4-2

Solution

To determine the x-coordinate of the resultant (i.e., of the point where the action line of the resultant pierces the xz-plane),
use the projected system in the xy-plane as shown in Fig. 4-3. Apply the equation :

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 Figure 4-3

The x-coordinate must be such that a force of 40 N (acting up) will have a positive or counterclockwise moment. Therefore,
R must be to the right of O:

Be sure to determine the sign by inspection as indicated in the previous paragraph, and not by combining the signs of the
moment and the force.

Figure 4-4 shows the projection of the system into the yz-plane.

Figure 4-4

The z-coordinate must be such that a force of 40 N (acting up) will have a negative or clockwise moment of 160 N·m.
Therefore, R must be to the left of O. In this case, the z-coordinate is positive when it is to the left of O (refer to the space
diagram):

The problem may now be summarized by saying that the resultant is a 40-N force acting up. Its action line is parallel to the
y-axis and pierces the xz-plane at the point whose x-, z-coordinates are (5.25, 4.00) m. This is shown in Fig. 4-2.

4.3. Find the resultant of the system of forces shown in Fig. 4-5. The coordinates are in meters.

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 Figure 4-5

Solution

This indicates that the resultant is not a single force. It may, however, be a couple.

Next find ∑ M x and ∑ M z as in the preceding problem:

Since ∑ F = 0, ∑ M x, and ∑ M z represent couples in the yz- and xy-planes, respectively. These are shown in Fig. 4-6.

Figure 4-6

The two vectors representing the couples are shown combined into a resultant couple M with magnitude

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 The vector M in the xz-plane makes an angle θ z with the z-axis as shown in the figure, where θ z = θ x.

According to the convention about couples, the resultant couple acts in a plane perpendicular to the vector M representing
it. In the figure this could be in a plane containing the y-axis with trace TT in the xz-plane.

This trace makes an angle with the x-axis of

4.4. Determine the resultant of the nonconcurrent, nonparallel system of forces shown in Fig. 4-7.

Figure 4-7

SolutionIn working this example, replace each force by an equal force parallel to it through the origin and a couple. The forces
at the origin are resolved into x-, y-, z-components using direction cosines. Thus, the 40-N force has direction cosines that are
determined by the differences in the cooridnates of the two given points on its line of action. The x-difference is 0 − 2 = −2;
the y-difference is 2 − 0 = 2; thez-difference is 2 − 4 = −2. The cosine of the angle that the 40-N force makes with thex-axis is

Similarly, and .

The results are most conveniently set down in tabular form.

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 F cos θx cos θy cos θz Fx Fy Fz

40 −23.1 23.1 −23.1

30 0 18.0 0 −24.0

20 14.6 9.71 9.71

∑ F x = 9.5, ∑ F y = 32.8, ∑ F z = −37.4

From the above table, determine the resultant of this system of transferred forces concurrent at the origin:

The resultant of the transferred forces is shown graphically in Fig. 4-8.

Figure 4-8

The foregoing did not use the couple associated with each transferred force. Determine the moments of each of the three
forces about the three axes to establish the magnitude and direction of these couples. Referring to Fig. 4-7, consider the 40-N

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force acting at the point (2, 0, 4). Its moment about the x-axis is the algebraic sum of the moments of its three components
about the x-axis. However, its only component possessing a moment about thex-axis is the y-component. The moment of the
40-N force about the x-axis is therefore −(23.1 × 4) = −92.4 N·m. In finding the moment about the y-axis (i.e., M y), consider the
moments of both the x- and z-components. The moment of the x-component about the y-axis is −(23.1 × 4) = −92.4 N·m. The
moment of the z-component about the y-axis is (23.1 × 2) = 46.2 N·m. Therefore, M y is equal to −92.4 + 46.2 = −46.2 N·m. The
moment of the 40-N force about the z-axis is the same as the moment of its y-component about the z-axis. Hence, M z = (23.1
× 2) = 46.2 N·m. A tabular solution is given for the moments of the forces.

F Fx Fy Fz Mx My Mz

40 −23.1 23.1 −23.1 −92.4 −46.2 46.2

30 18.0 0 −24.0 −48.0 72.0 −36.0

20 14.6 9.71 9.71 −19.4 9.8 19.4

∑ M x = −159.8, ∑ M y = 35.6, ∑ M z = 29.6

The magnitude of the resultant couple is

with direction cosines

The vector M is shown in Fig. 4-9. The resultant couple acts in a plane perpendicular to the vector M. The resultant of the
system is the combination of the force R and the couple M.

Figure 4-9

4.5. Find the general force-couple resultant of the noncoplanar, nonconcurrent force system consisting of a 150-N force
along the line from (2, 0, 0) through (0, 0, 1), a 90-N force along the line from (0, −2, −1) through (−1, 0, −1), and a 160 N·m
couple lying in the xy-plane. Distances are in meters. Gather the moments to the origin.SolutionExpress each force in i, j, k
notation and find the moment of each force relative to the origin:

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Then

Next determine M 1 and M 2:

The given couple in the xy-plane can be written as M 3 = 160k N·m. The total resultant couple is

4.7. SUPPLEMENTARY PROBLEMS

Determine the resultants in Problems 4.6. through 4.9, which involve concurrent systems of forces. The forces are in
newtons and the coordinates of the points on the lines of action are in meters. All forces in each problem are concurrent at
the origin. (Negative answers involve negative components.)

4.6.

F 100 200 500 300

Coordinates (1, 1, 1) (2, 3, 1) (−2, −3, 4) (−1, 1, −2)

Ans.

R = 286 N, θ x = −60°, θ y = 78°, θ z = 33°

4.7.

F 5 2 3 4 8

Coordinates (2, 2, 3) (5, 1, −2) (−3, −4, 5) (2, 1, −4) (5, 2, 3)

Ans. R = 13.3 N, θ x = 33°, θ y = 70°, θ z = 66°

4-8.

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 F 1000 1500 1800

Coordinates (−5, 2, 1) (6, −3, −2) (−2, −1, −1)

Ans. R = 1780 N, θ x = −52°, θy = −55°, θ z = −57°

4-9.

F 40 80 30 20

Coordinates (6, 5, 4) (1, −3, −2) (8, 10, −7) (−10, −9, −10)

Ans.

R = 80.1 N, θ x = 49°, θ y = −67°, θ z = −51°

4.10. Determine the resultant of the three forces shown in Fig. 4-10. Note that their lines of action lie in the three coordinate
planes and pass through the origin.Ans. R = 19.7 N, θ x = 43°, θ y = 56°, θ z = 66°

Figure 4-10

In each of Problems 4.11 through 4.14, find the resultant and the coordinates of the intersection of its line of action with the
xz-plane. The given forces are in newtons and parallel to the j-axis, and the coordinates of the intersection of each action
line with the xz-plane are in meters.

4.11.

F 100 150 200 300

(x, z) (3, −2) (1, 6) (2, −3) (−1, −1)

Ans. R = 750 N, = 0.733 m, = −0.267 m

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4.12.

F −25 18 −12 −30 36

(x, z) (1,2) (2, −1) (0, 0) (−6, −2) (3, 2)

Ans. R = −13N, = −23.0m, = −4.92m

4.13.

F 3 −4 2 −5

(x, z) (2, 5) (1, −5) (3, 3) (−4, −4)

Ans. R = −4N, = −7.00m, = −15.3m

4.14.

F 10 20 −30

(x, z) (1,1) (2, −5) (3, −4)

Ans. M x = −30 N·m, M z = −40 N·m

4.15. Five weights of 20, 15, 12, 6, and 10 N rest on a flat table with the coordinates (0.5, 15°), (1.5, 90)°, (0.8, 185°), (0.7,
262°), and (1.2, 340°), respectively, where the first number in parentheses represents the radial distance in meters from the
center of the table and the angle is measured counterclockwise from a reference radius as the table is viewed from above.
Determine the resultant weight.Ans. R = 63 N down, r = 0.3, θ = 56°

4.16. Find the resultant of the system shown in Fig. 4-11. The forces are in newtons and the distances in meters.

Figure 4-11

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Ans.

R = 40.3 N, cos θ x = 0.594, cos θ y = 0.673, cos θ z = −0.428 at origin, M = 251 N·m, , ,
.

4.17. In Problem 4.4, find the couple M by determining the sum of the moments of the three forces about the origin using
vector cross products. The reader should be aware that in finding the moment of a force about a moment center, the position
vector r may be drawn from the moment center to any point on the action line of the force. The reader should prove this by
using more than one point on the action line of one of the forces.

4.18. Determine the resultant of the three forces shown in Fig. 4-12. Coordinates are in meters. Use the origin as the base
point.Ans. R = 3530i + 267j + 1200k N through the origin, and M = −3200i + 4810j − 534k N·m

Figure 4-12

4.19. Replace the three forces shown in Fig. 4-13 by a resultant force R through O and a couple.Ans. R = 200i − 400j − 500k
N or R = 671 N with cos θ x = 0.298, cos θ y = −0.597, cos θ z = −0.745 C = 1500j − 2400k N·m or C =
2830 N·m with , ,

Figure 4-13

4.20. Given the two forces F1 = 20i − 10j + 60k N acting at (0, −1, 1) and F2 = 30i + 20j − 40k N acting at (−1, −1, −1), and a
couple of moment −80 N·m in the xy-plane, determine the resultant force-couple system. Coordinates are in meters.Ans. R =

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50i + 10j + 20k N, M = 10i − 50j − 50k N·m

4.21. Replace the three forces shown in Fig. 4-14 by a resultant force at A and a couple.

Ans.

R = 80i − 100j − 50k N, M = 100i + 100j − 200k N·m

Figure 4-14

4.22. Repeat Problem 4.21 with the resultant force acting at B rather than A.

Ans.

R = 80i − 100j − 50k N, M = 100i N·m

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