Seventh

Seventh Edition
Edition

VECTOR MECHANICS FOR ENGINEERS:

CHAPTER

STATICS
Ferdinand
Ferdinand P.
P. Beer
Beer
E.
E. Russell
Russell Johnston,
Johnston, Jr.
Jr.
Lecture
Lecture Notes:
Notes:
N.
N. MEYDANLIK
MEYDANLIK
T
Trakya
rakya University
University

Rigid Bodies: (II)

Equivalent
Systems of Forces

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Vector Mechanics for Engineers: Statics

NDEKLER :
Scalar Product of Two Vectors
Mixed Triple Product of Three Vectors ve Moment
of a Force About a Given Axis
Moment of a Couple
Resolution of a Force Into a Force at O and a
Couple
System of Forces: Reduction to a Force and Couple
Further Reduction of a System of Forces

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3-2

Vector Mechanics for Engineers: Statics

Scalar Product of Two Vectors
The scalar product or dot product between
two vectors P and Q is defined as
r r
P Q = PQcos (scalar result)
Skaler arpm (veya i arpm) denir

Scalar products:

r r r r
PQ = Q P
r r r
r r r r
- are distributive,
P (Q1 + Q2 ) = P Q1 + P Q2
r r r
- are not associative, (P Q ) S = undefined
- are commutative,

Example: Determine the dot product of the two vectors shown below.
y
A
|A| = 50
|B| = 30
25

YNTz1360

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3-3

Vector Mechanics for Engineers: Statics

Scalar Product of Two Vectors

Scalar products with Cartesian unit components,

r
r
r r
r
r
r
r
P Q = (Px i + Py j + Pz k ) (Qx i + Q y j + Qz k )

r r
r r
r r
r r
i i =1 j j =1 k k =1 i j = 0

r r
v r
j k = 0 k i = 0

r r
P Q = Px Qx + Py Q y + Pz Qz
r r
P P = Px2 + Py2 + Pz2 = P 2

Example:

If

A = 2i - 4j + 5k and B = 3i + 6k, determine A B

YNTz36

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3-4

Vector Mechanics for Engineers: Statics

Scalar Product of Two Vectors: Applications

1.

Angle between two vectors:

r r
P Q = PQ cos = Px Qx + Py Q y + Pz Qz

cos =

Px Qx + Py Q y + Pz Qz
PQ

Example: Determine the angle between the two vectors in the last example
(repeated below).

A = 2i - 4j + 5k and B = 3i + 6k

YNTz36.86

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3-5

Vector Mechanics for Engineers: Statics

Example: Problem 3.37

Example: Consider the volleyball net

shown below. Determine the angle
formed by guy wires AB and AC.

(YNT: ~43)

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3-6

Vector Mechanics for Engineers: Statics

Scalar Product of Two Vectors: Applications
2. Projection of a vector on a given axis:
POL = P cos = projection of P along OL
r r
P Q = PQ cos
r r
P Q
= P cos = POL
Q
r r
P Q Px Qx + Py Qy + Pz Qz
POL =
=
Q
Q

For an axis defined by a unit vector:

r r
POL = P

= Px cos x + Py cos y + Pz cos z

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3-7

Vector Mechanics for Engineers: Statics

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3-8

Vector Mechanics for Engineers: Statics

Scalar Product of Two Vectors: Applications
Example: P vektrnn line A-B zerindeki izdmn bulunuz.

(YNT: ~20,7)

B (10,12)

P = 20i + 10j
A (3,4)

r r
POL = P

= Px cos x + Py cos y + Pz cos z

y
Example: If F = 16i + -14j + 10k N, determine
the magnitude of the projection of F along the axis
of the pole. Also find the magnitude of F.

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3-9

Vector Mechanics for Engineers: Statics

Mixed Triple Product of Three Vectors
vektrn kark l arpm,
r r r
S (P Q ) = scalar result
Kark l arpm mutlak deer bakmndan kenarlar
S, P, and Q olan parelel yzlnn hacmine eittir, eer S,
P, and Q bir sa l oluturuyorsa pozitif sol l
oluturuyora negatiftir
r r r
r r r
r r r
S PQ = P Q S = Q S P
r r r
r r r
r r r
= S Q P = P S Q = Q P S
S, P ve Q ayn dzlemde ise kark l arpm sfr olur.

Evaluating the mixed triple product,

r r r
S (P Q ) = S x (Py Qz Pz Q y ) + S y ( Pz Qx Px Qz )

+ S z (Pxy Qz Py Qx )

Sx
= Px
Qx

Sy
Py
Qy

Sz
Pz
Qz

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3 - 10

Vector Mechanics for Engineers: Statics

EKSENE GRE MOMENT -UYGULAMA

Somunu skmek iin gerekli

moment MA= F.d=(Mz)max.
(Kol kuvveti yatay)

Kuvvet yatay deilse Uygulanan

MA momentinin sadece bir ksm
skmek iin kullanlr. Bu da
MZ= MA.cos = (F.d).cos =F.d

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3 - 11

Vector Mechanics for Engineers: Statics

Moment of a Force About a Given Axis
1.
Sometimes need the component of a moment about a particular axis
2.
Scalar analysis: Ma=Fda where da is the or shortest distance from the force
line of action to the axis of interest
3.
Vector analysis: Ma= a (r x F)
4.
This called the triple scalar product
Moment MO of a force F applied at the point A
about a point O,
r
r r
MO = r F
Scalar moment MOL about an axis OL is the
projection of the moment vector MO onto the
axis,
r r
r r r
M OL = M O = (r F )
Moments of F about the coordinate axes,

M x = yFz zFy
M y = zFx xFz
M z = xFy yFx

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OL ekseninin dorultman
kosinsleri

x
M OL = x
Fx

Fy

Fz

A nn koordinatlar
3 - 12

Vector Mechanics for Engineers: Statics

Moment of a Force About a Given Axis
Kuvvetin herhangi bir eksene gre momenti,

M BL
r
rA / B

r
= MB
r r
r
= rA / B F
r r
= rA rB

x
M BL = x A / B
Fx

yA / B

zA/ B

Fy

Fz

SO U eksen zerinde alnan B noktasndan bamszdr.

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3 - 13

Vector Mechanics for Engineers: Statics

Example : Mo= ?, My=?

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143.13, 53.13, 90

3 - 14

Vector Mechanics for Engineers: Statics

Sample Problem 3.5

A cube is acted on by a force P as

shown. Determine the moment of P
a) about A
b) about the edge AB and
c) about the diagonal AG of the cube.
d) Determine the perpendicular distance
between AG and FC.

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3 - 15

Vector Mechanics for Engineers: Statics

Sample Problem 3.5
Moment of P about A,

r
r
r
M A = rF A P
r
r
r r
r
rF A = a i a j = a i j
r
r
r
r r
P = ( P / 2 ) j ( P / 2 )k = ( P / 2 ) j k

r
r
r
r r
r
r
M A = rF A P = a i j ( P / 2 ) j k

( )

( )

r
r r r

M A = aP / 2 i + j + k

Moment of P about AB, (MA nn AB zerindeki izdm)

r r
M AB = i M A
r
r r r
= i aP / 2 i + j + k

M AB = aP / 2

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3 - 16

Vector Mechanics for Engineers: Statics

Sample Problem 3.5
Moment of P about the diagonal AG,

r
M AG = M A
r
r r
r rr
ai aj ak
1 r r r
G/ A
=
=
i j k
=
rG / A
a 3
3
r
aP r r r
MA =
i + j +k
2
r r
1 r r r aP r r r
M AG = M A =
i j k
i + j +k
3
2
aP
(1 1 1)
=
6

M AG =

aP
6

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3 - 17

Vector Mechanics for Engineers: Statics

Sample Problem 3.5
Perpendicular distance between AG and FC,

r r P r r 1 r r r
P
(
(
(0 1 + 1)
P =
j k )
i j k )=
2
3
6
=0
Therefore, P is perpendicular to AG.

M AG =

aP
= Pd
6
d=

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a
6

3 - 18

Vector Mechanics for Engineers: Statics

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Vector Mechanics for Engineers: Statics

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3 - 20

Vector Mechanics for Engineers: Statics

Example 4.9

The rod shown is supported by brackets at

A and B. Determine the moment of the
Force F = {-600 i + 200 j - 300 k} 2 which
tends to rotate the rod about the AB axis.

AB

u A B

= u A B ( r F )
r
rA B
0.4 i + 0.2 j
= r =
rA B
(0.4 ) 2 + (0.2) 2

u A B = 0.894 i + 0.447 j
r r
r = rD = ( 0.2 j )m
r
N
F = { 600 i + 200 j 300 k}

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3 - 21

Vector Mechanics for Engineers: Statics

M AB

0.894 0.447
0.2
= 0
600

200

0
0
300

M AB = 0.894 [( 0.2)( 300) (0)(200)]

+0.447[(0)( 300) (0)( 600)]
+0[(0)(200) (0.2)( 600)]
M AB = 53.67 N m

M AB = 53.67 N m
oppposite sense of u AB
r
M AB = ( 53.67)[0.894 i + 0.447 j]
r
M AB = 48.0i 24.0 j N m

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3 - 22

Vector Mechanics for Engineers: Statics

Moment of a Couple (Bir kuvvet iftinin momenti)
ekilde grld gibi iddetleri eit etki izgileri
parelel ama ynleri zt olan iki kuvvetten (F ve F)
oluan bir bilekeye indirgenemeyen kuvvet sistemine
couple (kuvvet ifti) denir.
Kuvvetlerin toplam 0 ama bir noktaya gre
momentleri 0 deildir. Cismi dndrmeye alr.
Moment of the couple,
r r r r
r
M = rA F + rB F
r
r r
= rA rB F
r r r
M = r F

( )

M = rF sin = Fd
Kuvvet iftinin moment vektr koordinat
eksenlerinin orjinin seiminden bamszdr, yani
serbest vektrdr (moment alnan noktadan
bamszdr). inde bulunduu dzlemin
herhangi bir noktasna uygulanabilir.

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3 - 23

Vector Mechanics for Engineers: Statics

Edeer kuvvet iftleri
Two couples will have equal moments if
F1d1 = F2 d 2
the two couples lie in parallel planes, and
the two couples have the same sense or
the tendency to cause rotation in the same
direction.
Momentleri ayn olan kuvvet iftleri rijid cisme ayn etkiyi yaparlar.

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3 - 24

Vector Mechanics for Engineers: Statics

Couples Can Be Represented by Vectors

Bir kuvvet ifti bir rijid cisme etki ettiinde kuvvet iftin oluturan kuvvetlerin
nereye etkidii, iddetleri ve dorultularnn ne olduunun nemi yoktur.
Sadece kuvvet iftinin momentinin iddeti ve dorultusu nemlidir.Bir kuvvet
ifti, iddeti ve yn olan bir moment vektr ile temsil edilebilir.
Couple vectors obey the law of addition of vectors.
Couple vectors are free vectors, i.e., the point of application
is not significant.
Couple vectors may be resolved into component vectors.

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3 - 25

Vector Mechanics for Engineers: Statics

50

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3 - 26

Vector Mechanics for Engineers: Statics

Example: Finding the Moment of a Couple
Example:
a) Calculate the moments about points A, B, C, and D
generated by the two forces shown below by calculating
the moment due to each force separately.
b) Then treat the two forces as a couple and calculate the
moment.
c) Draw the object with the forces replaced by a couple
shown as a free vector.

10 N
A
D

3 mm
C

B
4 mm

10 N

Example:
A plate in the shape of a parallelogram is acted
upon by two couples. Determine:
a) The moment of the couple formed by the two
21-N forces (8.4 3m)
b) The perpendicular distance between the 12-N
forces if the resultant of the two couples is
zero. Also find the value of d. (0.7 m , 0.85 m)

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3 - 27

Vector Mechanics for Engineers: Statics

Verilen Bir kuvveti O noktasna etkiyen Bir kuvvet ve kuvvet iftine dntrme

F kuvvet vektr O noktasna tandnda cismin balangtaki

dengesi bozulmamaldr.
Bunun iin O noktasnda cisme net etkisi olmayan birbirine eit ve zt
ynde iki kuvvet uygulanr.
Ve bu kuvvet de bir kuvvet-kuvvet ifti sistemine indirgenebilir.

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3 - 28

Vector Mechanics for Engineers: Statics

F kuvvetini A dan farkl O noktasna tamak istersek bu kez de O ne gre

moment vektrnn (MO) hesaplanmas gerekir,

r
r
r
M O' = r F

The moments of F about O and O are related,

r
r r
r r r r r r r
M O ' = r ' F = (r + s ) F = r F + s F
r
r r
= MO + s F

Bir kuvvet-kuvvet ifti sistemini O dan O ne tarken O noktasndaki

kuvvetin O noktasna gre momenti de eklenmelidir.

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3 - 29

Vector Mechanics for Engineers: Statics

Sample Problem 3.6
SOLUTION:

Attach equal and opposite 20 N forces in

the +x direction at A, thereby producing 3
couples for which the moment components
are easily computed.

Alternatively, compute the sum of the

moments of the four forces about an
arbitrary single point. The point D is a
good choice as only two of the forces will
produce non-zero moment contributions..
ekilde gsterilen kuvvet iftleri
(moment etkisi yaratr) yerine
edeer bir tek moment elde
ediniz.

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3 - 30

Vector Mechanics for Engineers: Statics

Sample Problem 3.6

Attach equal and opposite 20 N forces in

the +x direction at A
The three couples may be represented by
three couple vectors,
M x = (30 3 )(450 mm ) = 13500 3mm
M y = +(20 3 )(300 mm ) = +6000 3mm.

M z = +(20 3 )(225 mm ) = +4500 3mm.

r
r
r
M = (13.5 3 m )i + (6 3 m.) j
r
+ (4.5 3 m.)k

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3 - 31

Vector Mechanics for Engineers: Statics

Sample Problem 3.6
Alternatively, compute the sum of the
moments of the four forces about D.
Only the forces at C and E contribute to
the moment about D.
r
r
r
r
M = M D = (450 mm.) j ( 30 3 )k
r
r
r
+ (225 mm.) j (300 mm )k ( 20 3 )i

r
r
r
M = (13.5 3 m )i + (6 3 m.) j
r
+ (4.5 3 m.)k
Sonu nceki ile ayndr

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3 - 32

Vector Mechanics for Engineers: Statics

Kuvvetler sisteminin bir kuvvet-kuvvet ifti momentine indirgenmesi

The force and couple vectors may be combined into a

resultant force vector and a resultant couple vector,
r
r
r
r r
R = F
M OR = (r F )
The force-couple system at O may be moved to O
with the addition of the moment of R about O ,
r
r
r r
M OR' = M OR + s R
Two systems of forces are equivalent if they can be
reduced to the same force-couple system.

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3 - 33

Vector Mechanics for Engineers: Statics

Eer bile
bileke kuvvet ve moment bibirine dik ise sistem tek bir kuvvete indirgenebilir

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3 - 34

Vector Mechanics for Engineers: Statics

Kuvvetler sisteminin tek bir kuvvete indirgenmesi
Eer bileke kuvvet ve bir O noktasndaki moment birbirine dik ise bunlar
yeni bir tesir izgisi zerinde etki eden tek bir kuvvete indirgenebilir
Bir kuvvetler sistemi iin bir bileke kuvvet ve bir
momentin birbirine dik olabilmesi iin; kuvvetler
1) ya bir noktada kesimeli,
2) ya ayn dzlemde olmal, yada
3) kuvvetler birbirine parelel olmal.

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3 - 35

Vector Mechanics for Engineers: Statics

Coplanar Force Systems

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3 - 36

Vector Mechanics for Engineers: Statics

Dzlemdeki kuvvetlerin bir tek kuvvete indirgenmesi

r
Bileke kuvvet R tesir
r R izgisi dorultusunda O
noktasna gre MO ye eit moment oluturacak
ekilde kaydrlr.
In terms of rectangular coordinates,

xR y yRx = M OR

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3 - 37

Vector Mechanics for Engineers: Statics

Parallel Force Systems

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3 - 38

Vector Mechanics for Engineers: Statics

VDA

oranna vida adm denir.

FR

vida ekseni

Bir vektrn baka bir vektrn tesir

izgisi zerindeki izdm hatrlanrsa ;
MRo nun FR zerindeki izdm,
M
M
FR

r
r
F R M OR
=
FR
r
r
F R M OR
=
F R2

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3 - 39

Vector Mechanics for Engineers: Statics

Sample Problem 3.8

SOLUTION:
a) Compute the resultant force for the
forces shown and the resultant
couple for the moments of the
forces about A.
For the beam, reduce the system of
forces shown to (a) an equivalent
force-couple system at A, (b) an
equivalent force couple system at B,
and (c) a single force or resultant.
Note: Since the support reactions are
not included, the given system will
not maintain the beam in equilibrium.

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b) Find an equivalent force-couple

system at B based on the forcecouple system at A.
c) Determine the point of application
for the resultant force such that its
moment about A is equal to the
resultant couple at A.

3 - 40

Vector Mechanics for Engineers: Statics

Sample Problem 3.8
SOLUTION:
a) Compute the resultant force and the
resultant couple at A.
r
r
R = F
r
r
r
r
= (150 N ) j (600 N ) j + (100 N ) j (250 N ) j
r
r
R = (600 N ) j

r
r r
M AR = (r F )
r
r
r
r
= (1.6 i ) ( 600 j ) + (2.8 i ) (100 j )
r
r
+ (4.8 i ) ( 250 j )
r
rR
M A = (1880 N m )k

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3 - 41

Vector Mechanics for Engineers: Statics

Sample Problem 3.8
b) Find an equivalent force-couple system at B
based on the force-couple system at A.
The force is unchanged by the movement of the
force-couple system from A to B.
r
r
R = (600 N ) j
The couple at B is equal to the moment about B
of the force-couple system found at A.
r
r
r
r
M BR = M AR + rB A R
r
r
r
= (1880 N m )k + ( 4.8 m )i ( 600 N ) j
r
r
= (1880 N m )k + (2880 N m )k
r
rR
(
)
M B = + 1000 N m k

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Vector Mechanics for Engineers: Statics

Sample Problem 3.10
SOLUTION:
Determine the relative position
vectors for the points of
application of the cable forces
with respect to A.
Resolve the forces into
rectangular components.
Compute the equivalent force,
r
r
R = F
Compute the equivalent couple,
v
r r
M AR = (r F )

Yukarda kablo ile bal bir braket

grlmektedir. kablo kuvveti yerine
A da etki eden bir edeer kuvvet-kuvvet
ifti sistemi bulunuz.

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Vector Mechanics for Engineers: Statics

Sample Problem 3.10
Resolve the forces into rectangular
components.
r
r
FB = (700 N )
r
r
r
r
r rE B 75 i 150 j + 50k
=
=
rE B
175
r
r
r
= 0.429 i 0.857 j + 0.289k
r
r
r
r
FB = 300 i 600 j + 200k ( N )

Determine the relative position vectors

with
r
r respect to A.r

rB A = 0.075 i + 0.050k (m )
r
r
r
rC A = 0.075 i 0.050k (m )
r
r
r
rD A = 0.100 i 0.100 j (m )

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r
r
r
FC = (1000 N )(cos 45 i cos 45 j )
r
r
= 707 i 707 j ( N )
r
r
r
FD = (1200 N )(cos 60 i + cos 30 j )
r
r
= 600 i + 1039 j ( N )
3 - 44

Vector Mechanics for Engineers: Statics

Sample Problem 3.10
Compute the equivalent force,
r
r
R = F
r
= (300 + 707 + 600) i
r
+ ( 600 + 1039) j
r
+ (200 707 )k
r
r
r
r
R = 1607i + 439 j 507k ( N )

Compute the equivalent couple,

v
r r
M AR = (r F )
r
r
r
i
j
k
r
r
r
r
rB A F B = 0.075
0
0.050 = 30i 45k

300
r
i
r
r
rC A F c = 0.075
707
r
i
r
r
rD A F D = 0.100
600

600 200
r
r
j
k
r
0 0.050 = 17.68 j
0 707
r
r
j
k
r
0.100 0 = 163.9k
1039 0

r
r
r
r
M AR = 30 i + 17.68 j + 118.9k

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Vector Mechanics for Engineers: Statics

Example Equivalent Systems
Example: (Problem 4-113 in Statics, 9th Ed. by
Hibbeler) Replace the two forces by an
equivalent resultant force and couple moment at
point O. Use F = 15 lb.

Example: (Problem 4-115 in Statics, 9th Ed. by

Hibbeler) The system of parallel forces acts on
the top of the Warren truss. Determine the
equivalent resultant force of the system and
specify its location measured from point A.

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Vector Mechanics for Engineers: Statics

Example

N.m
N.m

N.m
N.m

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Vector Mechanics for Engineers: Statics

Quiz

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Vector Mechanics for Engineers: Statics

1m

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Vector Mechanics for Engineers: Statics

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Vector Mechanics for Engineers: Statics

Example 2
Replace the force and couple moment system by an equivalent force
and couple moment acting at point P.
Solution:
+
FRx = Fx

FRx = 60 cos 30 = 51.96 N = 51.96 N

+ FR y = Fy
FR y = 60 sin 30 140 = 170 N = 170 N
FR = FR2x + FR2y
FR = ( 51.96) 2 + ( 170) 2 = 178 3
FR
= tan y
FR
x
-1

-60cos30N P

-51.96N

-60sin30+
(-140)N

= tan -1 170 = 73

51.96

73

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P
-170N

3 - 51

Vector Mechanics for Engineers: Statics

Example 2
60cos30N

8m
Moment
due to
horizontal
component
of 60N

P
60sin30N
Moment
due to
vertical
component
of 60N

(+ M

RP

4m

P
P

= MP

M RP = 60 sin 30(12 8) + 60 cos 30(8) + 40 + 140(3 + 12)

M RP = 2676 N.m
M RP = 2.68 kN.m (counterclockwise)

Moment
due to the
force 140N

15m
140N
P
40Nm

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