Applied Mecanes~ Sut Chapter 3. Rigid Bodies ; Equivalent System of Forces 3.1 Introduction principle of transmissibility moment of a force about a point moment of a force about an axis body : combination of large number of particles rigid body : does not deform under force acting on the body 3.2 External and Internal Forces forces acting on the body may be separated into two groups 1. external forces : represent the action of other bodies on the rigid body 2, internal forces : the forces which hold together the particles forming the rigid body A fouce at. foree 43.3 Principle of Transmissibility, Equivalent Forces the condition of equilibrium or of motion of a rigid body will remain unchanged ifa force F acting at a given point ofthe rigid body is replaced by a force F* of the same magnitude and same direction, but acting at a +F6 tay 3.7 Varignon’s Theorem the moment about a given point O of a resultant of several concurrent forces is equal to the sum of the moments of various forces about the same point O PoRtht he Moa rx Fa rx (tht ht) SrxFtrx tex Bt 3.8 Rectangular Components of the moment of a Force rexityjtck ho Fe Rithj+ hk Avge lif KI ° Mo=rxF= |x y 2] | iF B Fl Mon Mit Mit Mk ie Mayet Matha M, = xFy = Fe if we need to compute the moment My about an arbitrary at point B of aforce F applied at A My = BAX F-Arplied Mechanics ~ States , ye BA = axi+ ayj + ack Xun =n 7 Xn Yan = Ia = I BA= 1-1" ar li fk My = Ar x F = |x00 Yam Zu) [ROR Bl for two dimensional ease, F, = 0, 2 Mo = (xP, - yF JK My = x Fy - y= Me Mon M,=0 or Me = [(ta-X8) Fy - Wa- ye) Fl k My = Mz = (x78) Fy > a-Js) Fe M=M,=0 ‘Sample Problem 3.1 determine (a) Me (b) same My, find horizontal force F (©) smallest force to get same My (@) for 1200N |, find d to getsame My (@) is (b), (©), (@) is the force equivalent to the original force (@) My = Fd = 500x600 cos 60° = 500x300 = 150,000 N-mm / fm = 508m Lo | ()) My = Fad = Fx 600 sin 60° el 150 = F x 05196 F = 288.68© M=Fd Fan dom ie FL OA dw = O4 = 0.6m 150 = Faie X 0.6 Fon = 250N N30 @) My = Fd ¥ 150 = 12004 4 = 0.125 m roa OB = dleoeGOr = 025m = 250mm sf, af ad (@) none of (b),(c) (4) is equivalent, although My is equal in each cease, but F is not equal ‘Sample Problem 3.2 T ae determine Ms 0 My = ray X F il A run = BA =-0.21 + 0.16j (my /—a00= F = 800.€0s 60° + $00 sin 60° 1000) smn = 4007 + 6937 0%) Me = (0.24 + 0.16j) x (400i + 693) 138.64 - 64k = - 202.64 (Nem) “°""” = 2026N-m (2) ‘Sample Problem 3.3, 40N a= 25° P,= 40 cos 25° = 36.252 P P,= 40 sin 25° = 16.905 N My=-xP; -yPy =-0.2x 16.905 - 0.6 x 36.252Arplied Mecanes ~ Satics Sample Problem 3.4 Teo = 200N find My of Teo at C My = ron x Teo AQ, 0,032) (0.3, 0, 0.4) D0, 0.24, 0.08) unit: m ton = AC = 0.34 + 0.08 & (mm) CD = -0.31 + 0.24j - 032k (m) cD + 028 + 0324)" = 0.5m e CDICD = - 0.61 + 0.48; - 064k Ten = Tep den = 200 (-0.64 + 0.48) - 0.64 &) = -120/ + 96j - 128% (N) canine Lig ok | My = rex x Tep = |0.3 0 0.08) = -7.681+28.8)+28.8 k (N-m) |-120 96 -128 | 3.9 Scalar Product of Two Vector (dot product) P+ Q = PQcosO (scalar) a commutative property P+ Q= Q-P distributive property P-(Q + Q) = P-Q + P-@ associative property cannot be applied," (P - Q) + Shas no meaning on dot product of unit veetors Oor 1) = Ixleos= 1 fej 1 keke Gispisik=k kejno P= (Pri + Pyj + Pek) (Qed + Of + OK)‘Aled Mechanics ~ Stes A+ P+ P.O if P=Q P-P=P2+P2+Pi=P applications angle formed by two given vectors P= Pat Pj + Pek Q= Qi+ Oj + Ok P-Q= PQcsO= P.O + P,Q, * P.O, PQ, + P,Q, + P.Q, Po where P = (P2 + P?2 + Py" Q=(Q2 + OF + O2)* 2. projection of a vector on a given axis cos 0 = Pow OA = Pos PQ = PQcos8 = Pad + PLO, + PoQe Q now, if we choose Q is an unit vector Q= to 2 Poo = Po do Jor 108 Bi + 005 8,j + cos Ok Po. = Pycos d + P,cos by + P, cos 8, 3.10 Mixed Triple Product of Three Vectors S-(PxQ) _ scalartriple product Sx (Px Q) vector triple product (used in dynamics) 38-Arplieg Mechanics ~ Stace U=S-PxQ=S-V U = the volume of the parallelogram having the vector $, P, Q for sides if S, P,Q are coplanar, the scalar triple product will be zero SPX D=P-OxS)= Ox?) =-S+QxP)~-O-PxS)=-P(S xO C) a - SPR Q=SVESM+ SV, + SMe 5. (Py Qs = Pas) + S,(PeO, - PO.) + S(PxQq ~ Py) IS. 5, SI S-(PxO= |. P, P| 12 Q% Q) 3.11 Moment of a Force about a Given Axis F Mynx F define the moment Mo, of F about OL as the projection OC of the moment Mo onthe axis OL Mo, = + Mo = 2-(r x F) [a dy del =Ixy zl 1k Fl resolve F into F, and F; in which F\ i OL and Fs onthe plane 1 OL FathApplicd Mechanic ~ Satis and r= r+ where on i A Mo = h-(0 x F)= Ae (in +m) x (Fi + AX FR) +A XR) +A (nx Bi) + a(n x BD Jinx R= In x Bl the moment Mo. of F about OL measures the tendency of the force F to impart to the rigid body a motion or rotation about the fixed axis OL. M-i=M=yF,-2h M-j= M+k=M.=xF,-yF M=2F-xF ‘moment about the coord, axes the moment components M, M, and M, of F about the coordinate axes measure the tendency of F to impart to the rigid body a motion of rotation about the », y and 2 axes, respectively the moment of / applied at 4 about an axis which does not pass through © is obtai by choosing an arbitrary point B on the axis l» Ma, = 2+ Mg = 2+ (Or x F) arent Vag dy dal Ma.= |x Ay de] IK A RS ALS asm AY =A Ye Az = 24-20 the moment of F* about an axis is independent of the choice of the point on the axis choose another point C Ma. = d+ (ra ~ re) x FY ty re = (ty = re) + (re = re) Mey = 2 (ltq =m) XFL 2+ [ta > 00) x Fl = 2+ (rx = Ma.Sample Problem 3.5 acube of side a, determine (@) My (b) Maw 4 T (©) Mac (d) d from AG to FC [de Je, 7 Aa (@) &) (©) @ -Arpled Mechanics ~ Statics P= Parc Fa,0,a) C(a,a,0) dec FCIFC = - WI? My = AF x P= (aj - ak) x PG - KIS 2 = aPG+j+ wiv? Mos = dus My y= = baPG+j+ WIV2= aPiy2 Mio = dua * Mx AQ, 4,0) G(a,0,0) AG = ai-j-k) AG = a3 G-7- BIS Mo = (=F - WIV3][aP G+) + HID] = -aP 16 or Mo = Ayo“ (AF x P) dae Vac dy de I =|a -a 0 |=-aP/vo [0 PY PH Po deo = (PG WIV 2 EF - IVS] = Pike oA S: Muw=|Pd| aP/V6= Pa <7] tus d= 0/6 P 3.12 Moment of a Couple two forces F and - F having the same ‘magnitude, parallel line of action, opposite direction are said to form a coupleApplied Mechanic ~ Sis Manx Ft mx eR = (n-ne) xX Farxk where ris the vector jointing the points of application of the two forces, ‘My is called the moment of couple My = rFsin@ = Fd 1 is independent of the origin O, .*. the moment M ofa couple is @ free vector, ie which may be applied at any point if Ad= Ra ec then the moment of couple is said to be equal 2.13 Equivalent Couples / = three couples have the same effect on the box two system of forces are equivalent if we can transform one of them into other by means of one or several ofthe following operations 1. replacing two forces acting on the same particle by their resultant 2. resolving a force into two components 3. canceling two equal and opposite forces acting on the same particle 4, attaching to the same particle two equal and opposite forces 5, moving a force along its line of action 3-2Applied Mecanes~ Sie ‘two couples having the same moment Mf are equivalent 1. to couples contained in the same plane 2. two couples contained "Tet in the parallel planes 3.14 Addition of Couples | Marx R=rx (tPF) 4 / xFtrxk era: a = My + My & 3.15 Couples may be Represented by Vectors the vectors representing a couple is called a couple vector 3.16 Resolution of a Given Force into a Force at O and a Couple any force acting on a rigid body ‘may be moved to an arbitrary point e we , provided that a couple is added, _ _ ‘of moment equal to the moment of F about O ie Mo=rxF Ma FdApplied Mechanics ~ Statics and the combination obtained is referred to as a force-couple system ifthe force F had been moved from A toa different point 0”, then My = x F [from/(a)t0(¢)] = +9) x FarxFtsxF =M+sxF — fom(b)to(o] replacing a force-couple system into a single force d= MIF inthis case, F must be 4 Me ‘Sample Problem 3.6 determine M of the couples DE = 0.23] - 03k M forthe 100 force M, = DE x (- 100i) (0.23j - 0.3 &) x (- 1004) = 307+ 234m cal eT M,; for the 150.N force M, = DC x (-308) = 046) x (1500) =-697 (Wm)Arplied Mechanics Seis M=M+M, 694+ 30j+23k (Nm) alternate solution, add + 100'N and - 100N at 4, then M, 100 x 0.3 = 30 Nm es M, = 100 x 0.23 = 23 Nem ee] M = -691+30j+ 23k (wm) “E+ ‘Sample Problem 3.7 replace the force and couple by a single equivalent force die to the fore, the moment about O is lnex Me = 400 x d = 400 x 03 cos 60° sexe = 60N-m (2) = due to the couple My = 200 x 0.12 = 24N-m (2) then the total moment at O is My = 84N-m (2) “_ the distance of the ap tion of the equivalent force is d= Mi F = 84/400 = 021m and OC = 0.21 /cos 60° = 0.42m alternative method, move the (- 24 N-m) couple to B d= MIF = 24/400 = 0.06m BC = 0.06 / cos 60° = 0.12 m omy OC = OB + BC = 03 + 0.12 = 042m - 150 x 0.46 = - 69 Nem \—Applied Mecanics~Soties 3.17 Reduction of a System of Force to One Force and One Couple "ra system of forces F;, F, Fj ~ acting at the rigid body at the points Ai, 4s, As ~~, the forces can be removed to a given point O then the equivalent force-couple system is defined R-=F MB = EM, = B(r x F) ‘Mj! is called the moment resultant of the system at it can also toa force and a couple at another point O° R=2F MA= MP + sx 6 for each fore, the position and force components is rexityjtck F=Rit hit Fk and the resultant force and moment can be written as R=RI+ RI + Rk MS = MBit MRj + MER Ry Ry Re: the sums of x, y, components ofthe given force MS, MJ M. the sums of the moments ofthe given force about the +, Dy 2 axes, 3.18 Equivalent Systems of Forces two systems of forces are equivalent, therefore, if they may reduced to the same force-couple system at given at point O of rigid body ie. they are equivalent if, and only if, the sums of forces and the sums of _moments about a given point O are, respectively, equal 3-16Applied Mechanics ~ Stes EF=IF + ER=2R EER LRA DK EM, == My > EM." EMe EM=EM, EM = EM: 3.19 Equipollent Systems of Vectors two systems of vectors satisfy the equations in last section, the two system are said to be equipollent if two systems of forces acting on a rigid body are equipollent, they are also equivalent two systems of forces acting on different particles may be equipollent but not equivalent 3.20 Further Reduction of a System of Forces for a force-couple system, it can be reduced as R and M¢* at O when R= 0 => single couple vector 4 ‘we now investigate the conditions under which a given system of forces may be reduced to a single force two systems of forces which may be reduced to a single force, or resultant, are therefore the systems for which the force Rand the couple vector My* are mutually perpendicular this condition is generally not satisfied except for (1) concurrent forces, (2) coplanar forces, (3) parallel forces (1) concurrent forces : they can be added directly into their resultant R (2) coplanar forces : all forces lie on the x-y plane, the moment of each force about, My will be perpendicular tothe plane 2d 3-17 ‘ansAled Mechanics Ses the force-couple system at O R=ER, R=ER MS = Mi’ = = My let the position of application is A(x, y), then + % xR R= MR 4 R R MER, ky |? 4 zi « mi e 0 for x = 0 y= MEIR, x for y ) parallet forces ; et all forces parallel to y-axis, of course R should be parallel to y-axis “forces i y-axis, hence . se none tow yace is dh zero, only M, and M, exist move R to a new point of application A(x, 0, 2) to reduced the force- couple system to a single force, then rx R= Me (xi + 2k) x Rj = MRE+ MEK 2Ri + Rk = MET + MB then X= MBIR, | 2 =-MSIR, in general case, the resultant R and the couple are not perpendicular, thus they cannot be reduced to a single force . resolving Ms" into components My and Mz, where My along the is perpendicular to R 3-18Applied Mechanics Stes move R to anew point of application 4, such that the original system of force thus reduces to R and the couple Mj, where R and M; has the same direction, i. the couple acting in the plane perpendicular to R this combination of force-couple is called wrench, the line of action of R is known as the axis of the wrench the magnitude of My is the projection of Mg" on the line of action of R, such that M, = Ro MS/|R| andtheratio My _ Rs Mg RF = p iscalled pitch of wrench. ice M = pR Motrx R= Me pRorx R= Me ifER=R= |, EM" = 0 (particular case), the rigid body is said to bbe equilibrium Sample Problem 3.8 (a) equivalent force-couple at (b) equivalent force-couple at B (©)a single force or resultant @ R=5F = (150 - 600 + 100 - 250); "7" 600} (N) —=+ My = 20x FY = 1.6 4x (600) +2.84x 100 j+ 4.8 ix (-250/) 1880 & (N-m)(b) Mat = (© xR Aled Mechanics ~ Statics M+ BAXR = 180k + (4.88) x (-600/) yy 1000 & (N-m) a Shi Ms xi x (-600f) = - 1880 x= 313m a Sample Problem 3.9 determine the equivalent force and couple ak “\ a ANAS resolve 125 Nand 90 N forces in x and y directions 225 AA 12s i= seas a0e=95256N SOA 90N yedir, == 125 sin 40°=80.348N YE xedir.=-45N pedir, =- 77.942 N R.=EF, = 95.156-45 = 50.756 N Ry=2 Fy = - 80.348 - 200- 77.942 = -358.29N R= tan 0 R= May 61.87 aN (50.756 + 358.29") 358,29/50.756 362N 819° = 550 x 90 sin 35° - 800 x 200 sin 65° = 1200 x 125 sin 65° +309 NemApplied Mechanics ~ Sates Sample Problem 3.10 replace the frees bya force | couple system at A some ‘BTS, 100, 50) (150,-50,100) = BE= 751-150) + 50k BENS . 4 + s k | 700 dae = 3004 = 600j + 200k = \ 4 Fe = 107i - 07k 1%) mm,-S 00m) Fo = 600i + 1039) R= EF = 10671 + 439) - 507K AB = 0.075 + 0.05 k AD =01i- 0.1) AC = 0.075 i - 0.05 k My! = AB x Fy + AC x Fe + AD X Fo bi pf kt Le f RL LEG kl = [0.075 0 0.05] + |0.075 ‘0 -0.05| +|0.1 -0.1 0| | 300 -600 200} | 707 0 -707| 600 1039 0} BOE - 45.4) + (17.68) + (163.94) 300 + 17.68 + 118.9% (Nm) Sample Problem 3.11 determine the magnitude and point of application of the resultant R R=3F Mii = Ex FY ee rm) FOeN) rx F (em) ° =180) ° 3i -54j =162k Bi F15k 236) 544 - 1084 3-21Aled Mecancs = Sates 12i+3k = 90) 270i - 108k R= -360j Mii = 324i - 378k raxitzk | rx R= Me onus (xi + 2k) x (-360f) = 324i - 378k 36024 - 360xk = 3241 - 378K 4 0.9m wf xe 10sm oz Sample Problem 3.12 replace the two forces into a wrench determine R, p and the intersection ofthe wrench axis on +z plane mrajtak moaitaj force-couple at O R= Ft h=PGt) ME = rex Fit x aPG+)xitaPG+ Oxi -aPG+h RiME _ PG +f b aPG+ (2PF 22 My, = pR=~-aP(i+ )/2 Mors Re Me a“ reyjtzk — (onyzplane) <= aP G+ kD + Yj + 2h) x POF) =-aPG+h (-aP/2 - P2)i- (aP/2- P2)j- Pyk=-aPi+® => yea z= al2 — thepositionof G is G(0,q,a/2) 3-2