CV1011 Mechanics of Materials
Topic 5: Forces, Moments,
Equilibrium of a Body (Vector
Approach)
A/P Yang En-Hua
Office: N1-01b-56
: 6790 5291
:
[email protected] Learning Objectives
Force in 3-D
Moment in 3-D
Couple moment in 3-D
Equivalent system in 3-D
Rigid body equilibrium in 3-D
Support reactions in 3-D
Three-force member
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Scalars & Vectors
Mechanics deals with two kinds of quantities:
• Scalars - quantities with magnitudes only, e.g., mass (kg), length
(m), speed (m/s)
• Vectors - magnitude, orientation and sense, e.g., force (N),
displacement (m), moment (N⋅m)
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Vectors
A vector is graphically represented by an arrow.
• The magnitude of the vector is the length of the arrow
• The orientation is defined by the angle between a
reference axis and the arrow’s line of action Direction
• The sense is indicated by the arrowhead.
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Types of Vectors
1. Coplanar vectors lie in the same plane.
2. Collinear vectors act along the same line of action.
3. Concurrent vectors have lines of action that pass
through the same point.
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Vector Operations
Vector addition: R = A + B = B + A
• Vectors obey parallelogram law.
• The resultant R can also be obtained by the
triangle rule.
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Vector Operations
Vector subtraction: R’ = A - B = A + (-B)
Resolution of a vector
• A vector may be resolved into two
components by drawing a //gram.
• For a given vector, there exist an infinite
number of possible sets of components.
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Sine Law and Cosine Law
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Example
Two forces act on the ring.
Knowing that the resultant force have
a magnitude of 1 kN and is directed
vertically downward, determine
a) The magnitudes of F1 and F2 for θ =
30°
b) The magnitudes of F1 and F2 if F2 is
to be a minimum.
via the vector approach.
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Solution: (a) Addition by trigonometry
Construct the force triangle.
The angle between F1 and F2
= 30°+ 20° = 50°
=> supplementary angle = 180°- 50° =130°
Apply the law of sines to determine the
magnitude of F1 and F2:
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(b) determine the forces in the ropes if F2
is to be a minimum
In Fig (d), the direction of F1 and R are
known. Several possible directions of θ
are shown. The minimum value of F2
occurs when F2 ⊥ F1.
=> θ = 70°
Hence the magnitudes of F1 and F2 are
F1 = 1000 sin70° = 940 N
F2 = 1000 cos70° = 342 N
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Cartesian Vector Form (3-D)
A vector A may be resolved into 3
components along the x, y, z axes.
The unit vectors in the system are i, j
and k.
A = A’ + Az = Axi + Ayj + Azk
Note the right-hand rule:
the thumb points in the
direction of +z axis
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Cartesian Vector Form (3-D)
Magnitude of A:
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Cartesian Vector Form (3-D)
Direction of A:
α, β and γ are measured between the tail of A
and the +ve x, y, z axes
Note that cos2α + cos2β + cos2γ =1 (Why?)
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Cartesian Vector Form (3-D)
cos2α + cos2β + cos2γ
= 1
where
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Cartesian Vector Form (3-D)
A vector A may be resolved into 3
components along the x, y, z axes.
The unit vectors in the system are i, j
and k.
A = Ax i + Ay j + Az k
= Acosα i + Acosβ j + Acosγ k
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Example
Two forces act on the hook.
Determine the direction angles
of F2 so that the resultant force
is 800 N and directed along the
+y axis.
Solution:
1. Express F1, F2 and FR in Cartesian vector form
2. Set FR = F1 + F2 to obtain the component of F2
3. Determine the direction angles of F2
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1. Force vector
F1 = 300cos45° i + 300cos60° j + 300cos120° k
= (212.1i + 150j - 150k) N
F2 = (F2xi + F2yj + F2zk) N
FR = 800j N
2. Set FR = F1 + F2 and equate the i, j, k components on each
side:
0 i + 800 j +0 k = (212.1+F2x) i + (150+F2y) j + (-150+F2z) k
0 = 212.1+F2x F2x = -212.1 N
800 = 150+F2y F2y = 650 N
0 = -150+F2z F2z = 150 N
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3. The direction angles of F2 are obtained from:
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Moment in 3-D
Moment in 2-D can be calculated using a scalar approach.
For 3-D problems, it is easier to use vector cross product
for calculation.
MO = r × F
r is a position vector from point O to
any point on the line of action of F.
The magnitude of this moment is
MO = r F sinθ = F (r sinθ) = F d
The direction and sense of
rotation of MO follow the right-
hand Rule.
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Cross Product
1. Definition
C = A × B ≡ A B sinθ⋅uC
uC is a unit vector normal to the plane
formed by A & B.
2. Anticommutativity
A×B=-B×A
3. Distributivity
a × (b + c) = a × b + a × c
4. Cross product of unit vectors (i, j, k)
i×i=0 j×j=0 k×k=0
i×j=k j × k = i k× i = j
i × k = -j j × i = -k k× j = -i
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5. Cross production computation via cooridinate notation
A = Ax i + Ay j + Az k , B = Bx i + By j + Bz k
A × B = (Ax i + Ay j + Az k) × (Bx i + By j + Bz k)
= AxBx(i × i) + AxBy(i × j) + AxBz(i × k)
+ AyBx(j × i) + AyBy(j × j) + AyBz(j × k)
+ AzBx(k × i) + AzBy(k × j) + AzBz(k × k)
= 0 + AxBy (k) + AxBz(-j)
+ AyBx(-k) +0 + AyBz(i)
+ AzBx(j) + AzBy(-i) +0
= (AyBz - AzBy) i + (AzBx - AxBz) j + (AxBy - AyBx) k
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6. Cross production computation via matrix notation (Faster)
A = Ax i + Ay j + Az k , B = Bx i + By j + Bz k
+ − +
− + −
+ − +
where component
component
component k = =
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Moment in 3-D
The physical meaning of each element becomes
evident if we consider the force components
separately, using a 2-D approach.
Note the directional sense of the
moment about point O.
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Example
Three forces act on the rod.
Determine the magnitude of
the resultant moment at the
point O and the direction
angles of the moment axis.
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Vectors Approach (Faster)
rA = (0, 5, 0) – (0, 0, 0) O (0, 0, 0) A (0, 5, 0)
= 5j m
rB = (4, 5, -2) – (0, 0, 0)
= (4i + 5j - 2k) m
B (4, 5, -2)
26
MRo = Σ (r × F)
= (rA × F1) + (rA × F2) + (rB × F3)
= (5×20-5×30+2×40)i + (4×30-2×80)j + (5×60+4×40-5×80)k
= (30i - 40j + 60k) N⋅m
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The magnitude of MRo is
From trigonometry, the coordinate
direction angles of the moment axis are:
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Scalar Approach (Clearer Physical Meaning)
Mz(60) = 5×60 N·m
Mx(20) = 5×20 N·m 60 N
Mz(60) 20 N M(40) = 0 N·m
40 N
Mx(20)
My(80)
Mz(40) 50 N
Mx(40) My(30) M(50) = 0 N·m
Mx(30) 40 N
Mz(40) = 4×40 N·m
Mz(80)
1. Resolve each force into 30 N Mx(40) = 2×40 N·m
x, y, z components Mx(30) = - 5×30 N·m
2. Determine the moment
80 kN My(30) = 4×30 N·m
induced by each force My(80) = - 2×80 N·m
component
Mz(80) = - 5×80 N·m ΣMx = 5×20 + 2×40 - 5×30 = 30 N⋅m
3. Sum up the moments
ΣMy = - 2×80 + 4×30 = - 40 N⋅m
in x, y, z directions.
ΣMz = 5×60 - 5×80 + 4×40 = 60 N⋅m
→ MRo = (30i - 40j + 60k) N⋅m
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Moment of a Couple
Two // forces equal in magnitude and opposite in
direction form a COUPLE.
It tends to produce a pure rotation of the body about
an axis normal to the plane containing the forces.
The moment of a couple is defined as A
M = F d (using a scalar analysis) or as r
M = r × F (in vector form) B
The vector r joins any point A on the line of action of –F to
any point B on the line of action of F.
Addition of couples
A resultant couple moment is the vector sum of all the couple moments of the
system. MR = M1 + M2 + … = Σ(r × F)
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Equivalent System
An equivalent force (and moment couple) system shall produce
the same translation and rotation on a rigid body.
Moving a force from point A to O creates an additional couple moment
M. This new couple moment can be applied at any point on the body.
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Equilibrium in 3-D
For a rigid body to satisfy equilibrium, the net
external force and the net external moment must
be equal to zero, i.e., ΣF= 0, ΣM= 0.
Express the forces and moments in
Cartesian vector form, we have
ΣFx = 0, ΣFy = 0, ΣFz = 0
ΣMx= 0, ΣMy= 0, ΣMz= 0
These six equations may be used to solve for at
most six unknowns shown on the FBD.
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Reactions at Support in 3-D
Types of Reaction No. of unknowns
connection
Smooth surface support
Ball and socket
Single journal bearing
Single hinge
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Three-force Member
F2
If a 3-force member is in equilibrium, then the forces must
either be concurrent or parallel.
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1
5 unknowns
5 equations (why?)
Take moment about z axis ≡ 0
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A: (0,0,0)
B: (0,0,6)
C: (6,0,0)
D: (-3,6,0)
T2 T1 𝐹 = −1𝑗 (𝑘𝑁)
Az
𝐵𝐷 = 𝐴𝐷 − 𝐴𝐵 = −3𝑖 + 6𝑗 − 6𝑘
1 2 2
= 9 (− 𝑖 + 𝑗 − 𝑘)
Ay 3 3 3
Ax 𝐵𝐶 = 𝐴𝐶 − 𝐴𝐵 = 6𝑖 + 0𝑗 − 6𝑘
= 8.485(0.7071𝑖 + 0𝑗 − 0.7071𝑘)
1 2 2
𝑇1 = 𝑇1 (− 𝑖 + 𝑗 − 𝑘) , 𝑇2 = 𝑇2 0.7071𝑖 + 0𝑗 − 0.7071𝑘
3 3 3
∑MA = 0:
𝑖 𝑗 𝑘 𝑖 𝑗 𝑘 𝑖 𝑗 𝑘
0 0 6 + 𝑇1 0 0 6 + 𝑇2 0 0 6 =0
0 −1 0 −13 23 −23 0.7071 0 −0.7071
i(6-4T1) + j(-2T1+4.243T2) + k(0) = 0 → T1 = 1.5 kN, T2 = 0.707 kN,
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T2 T1 𝑇1 = −0.5𝑖 + 1𝑗 − 1𝑘 kN
Az 𝑇2 = 0.5𝑖 + 0𝑗 − 0.5𝑘 kN
𝐹 = −1𝑗 kN
Ay 𝐴 = 𝐴𝑥 𝑖 + 𝐴𝑦 𝑗+ 𝐴𝑧 𝑘
Ax
∑F = 0:
𝑖 −0.5 + 0.5 + 0 + 𝐴𝑥 + 𝑗 1 + 0 − 1 + 𝐴𝑦 + 𝑘(−1 − 0.5 − 0 + 𝐴𝑧 ) = 0
→ 𝐴𝑥 =0, 𝐴𝑦 =0, 𝐴𝑧 =1.5 kN
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Recap
Force in 3-D
Moment in 3-D
Couple moment in 3-D
Equivalent system in 3-D
Rigid body equilibrium in 3-D
Support reactions in 3-D
Three-force member
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