Further reduction to a force and couple system:

SIMPLIFCATION TO A SINGLE RESULTANT FORCE:

M2 FR
F2 FR
F1
MRO
a a

r1 b b
F4
r2
r4
o
r3
= o =
b
o
F3 b
a a
d=MRO / FR
M1
Resultant force Single force FR acting at
System of forces
FR=∑F and a distance d from point
and couple
moments acting on = resultant couple = O
moment
a rigid body
MRO=∑MO
Parallel force system:
z z
z
FR=∑F
F1 F2 FR=∑F

F3
r2
MRO d y
r1 y
o
y
= = o
r3

x x
x
M2
M1 MRO= ∑M + ∑r x F

System of parallel forces and moments acting ┴ to forces = Each force is moved to point O in x -
y plane, it produces couple moment that has components only about x & y axes. The MRO is ┴
to FR.= FR is moved to distance d in figure 3.

In analysis the force summation is FR=∑F and moment summation

is MRO=∑MO
WRENCH OR SCREW:

Reduction to a wrench: The combination of a collinear force and couple moment is called a
screw or wrench. The axis of the wrench has the same line of action as the force.

FR FR FR
MRO

M‫װ‬
M‫װ‬ M‫װ‬

b θ a b b
a a
o
o
b
= o

d b
= b
a d
a a
┴
M
 FR FR FR

MRO

M‫װ‬
M‫װ‬ M‫װ‬

b θ a b b
a a
o
o
b
= o

d b
= b
a d
a a
┴
M

MRO has components M┴ is cancelled by FR at FR and M‫ װ‬at d distance (in plane

M┴ & M ‫װ‬ distance d on b-b moment transfer)
We know that the resultant couple vector M is parallel to the resultant force vector R, then the
resultant is said to be a wrench.
In +ve wrench the M and R have the same directions, where as in a –ve the directions of M and
R are opposite.

R R

i.e. Screw driver removes the

screw. It is -ve wrench.
M
M

+ve wrench -ve wrench

i.e. Screw driver drives the screw. It is +ve wrench.

 R
R Mo R

M1 M1
=
= M2

O O A
O
P

At a point O the force The moment Mo is The distance OA=M2/R. The line of
R and Moment Mo resolved in to two action of R is known as the axis of
are acting. Both are components M1 (along R) a wrench and the distance P is
non zero. & M2 (perpendicular to R. known as the pitch of the wrench.
 EQUATIONS FOR WRENCH

Force vector F = Fxi +Fyj +Fzk,

Magnitude of force F = (Fx2 + Fy2 +Fz2)1/2

Unit vector U collinear with F,

UF = 1/F (Fxi + Fyj + Fzk)

Couple vector C = (Cxi + Cyj + Czk)

Component of C along F = Cf = C ٠UF

Vector representation of component CF =CFUF

C = CF +C1,
- C1 = rA/B x F
Q. The force F is acting in plane M and a couple C is acting in plane C as shown in figure. Convert
this force and couple system into a wrench

M
C

Force F is acting in plane M and couple C is acting in plane

C
Force F is acting in plane M and couple C is acting in plane C

C
Cm
Cs
F
-Cs F
M O F
O M
C
O1
d -F

The couple C is resolved in two components Cm and Cs. The Cm component is in plane M and
the Cs component is perpendicular to plane M. The force F is transfer from point O to O1 and
also –F force is applied at point O1. So the Cs couple is eliminated by –Cs couple. The net couple
acting at in plane M is zero. The distance d = Cs/F.
 Cm

M F

O1

The Cs couple is eliminated by –Cs couple. The net couple acting at perpendicular to plane M is
zero. So the force F and couple Cm are acting at point O1 in plane M, which shown in figure.

Again resolve the Cm couple in two components Cf along the force F and Cn perpendicular to
force F.
 Components of Cm are Cn
Cm perpendicular to force F and Cf
Cn F along the force F.

M Cf

O1

Plane is perpendicular to The force is shifted to new

plane M position O2, so that the couple
Cn is balanced by –Cn couple.
Hence only force F at O2
postion with couple Cf is left.
F
-Cn
O2
-F
Cn dn
F
M Cf

O1
The force F with the couple Cf is the wrench. The force F acting at point O in plane M and the
couple C acting in plane C is replaced by the force F with couple Cf in a plane perpendicular to
plane M at point O2. This is +ve wrench.

Plane is perpendicular to
plane M

F
Cf
O2
dn

O
M

O1
Q. The given force F= 0i+1.5+1k,kN is acting at point A(2,1,-1). The given couple is C=0i+0.9j-
0.45k, kNm. Calculate the equivalent wrench. Also give the position of intercept of the wrench
with the x - y plane.

Ans. Unit vector in the direction of force

Length of the force F = (1.52+12)1/2 = 1.8028m
Uf = 1/1.8028(1.5j+1k)=0.832j+0.5547k

We know that A·B = AxBx +AyBy +AzBz

The component Cf of Couple C in the direction of the force F=C٠Uf= [0.9j-0.45k]

٠[0.832j+0.5547k]
Cf =0.7488-0.2496=0.4992,kNm
The vector representation of this component Cf
Cf = Cf Uf = 0.4992 [0.832j+0.5547k]
=0.4153j+0.2769k, kNm

The force F is shifted to new position in space by couple C1, C = Cf +C1,

i.e. C = 0i+0.9j-0.45k = 0.4153j+0.2769k + C1
gives C1=0.4847j-0.7269k, kNm

the force is shifted to new position B(xb,yb,zb) from point A to get rid off the couple C1, than
moment of the force F about the point B is –C1. Hence moment Mb = ra/b x F = - C1
Mb = ra/b x F = - C1

i j k
2-xb 1-yb -1-zb
= 0 1.5 1 = - 0.4847j + 0.7269k, kNm

(1-yb)1-1.5(-1-zb)=0 ---(1), -(2-xb)1= - 0.4847 ---(2)\

1.5(2-xb)=0.7269, gives xb=1.5154m,
As the plane is xy so zb =0, hence yb=2.5m
The force must act through the point B(1.5154,2.5,0). The couple Cf = 4.1532j+2.769k, kNm. This
is known as equivalent wrench.
Q. For the given force system on slab, calculate the resultant force and also locate its position on
slab.

5kN 4kN

1kN
6kN

5m 5m

x
 z
FR = ∑F
5kN = -6 -5 +1 -4 =-14kN
4kN
6kN
1kN
y

5m 5m

∑MRX = ∑Mx = 6*0+1*5-4*10+5*0=-3.5 = -14*y, y=2.5m.

∑MRy = ∑My = 6*8+1*6+4*0+5*0 = 4.2=14*x, x=3.0m.

z

FR

y
y x

x
Ex: A square foundation mat supports the four columns shown. Determine the magnitude and
point of application of the resultant of the four loads.

Y
177.6 kN

O 53.28 kN
89.6 kN

C
35.52 kN
A
z x
1.21 m B 1.52 m
1.82 1.52
Fy ,kN Mx, kN m Mz,kN m

-177.6
-53.28 -(53.28)(3.04)= -161.9
-35.52 (35.52)(1.52)= 53.99 -(35.52)(3.04)= -107.9
-89.6 (89.6)(3.04)= 272.38 -(89.6)(1.21)= -108.4

Ry= Mx = 326.37 Mz = - 378.2

-356
 y
-356 kN
326.37 kNm
-378.2 kNm
O

z
x

The two couple vectors are perpendicular to the

force and may be eliminated by moving the force
to a new point of application.
 y
O 356 kN

X Z
X
z

The two couple vectors are perpendicular to the

force and may be eliminated by moving the force
to a new point of application. The coordinates of
this point are
X = 378.2/ 356 = 1.062 m ,
Z = 326.37 /356 = 0.91 m
Q. The three forces act on rim of cover plate. Calculate resultant force and locate its position on
rim. The radius of the rim is 0.8m.

2kN z 1.5kN
3kN rC

C
B o y
A
45º
rA
x
rB

ixj = k, jxk = i, kxi = j,

ixk = -j, jxi = -k, kxj = -i,

ixi = jxj = kxk = 0

 The radius of the rim is 0.8m.=rA=rB=rC
rC

2kN z 1.5kN FR = ∑F
= -2 -1.5 - 3 = - 6.5kN
3kN
C
B o y
A
45º
rA
x
rB
∑MRo = ∑Mo r x FR=rAx(-3k) + rB x (-2k) + rC (-1.5k),
(xi+yj)x(-6.5k)
= -2.4k - 1.6k + ( - 0.8 *sin45ºi + 0.8*sincos45ºj)x(-1.5k)
-6.5xi -6.5yj = 2.4j + 1.6i -0.848j – 0.848i

X= 0.239m, & y = -0.116m,

 Position of the resultant force
FR
z

o
y

x
x

y
X= 0.239m, & y = -0.116m,
Q. A pole AB, 6 m long, is held by 3 guy wires as shown. Determine the moment about each
of the coordinate axes of the force exerted by wire BE on point B. The tension T in wire is
known to be 840 N.

Y B

840 N 6m
C
5m
D
2m 3m
4m
A x
3m 2m

z
 B 360 N
A
y x
240 N 2m
840 N 6 m
C 3m
z
5m
D
2m 3m x
4m
A
3m 2m

z
 360 N
A
y x
240 N 2m

3m
z
 360 N
A
y x 240 N y
240 N 2m

3m 6m
z 720 N

E
x A

y 360 N z
2m

720 N y

z E B
A
x
4m 3m
720 N
A
z
360 N E x

7m
 360 N
A
y x 240 N y
240 N 2m

3m 6m
z 720 N

E
x A

y 360 N z
2m

720 N y

z E B
A
x
4m 3m
720 N
A
z
360 N E x

7m
 360 N
A
y x 240 N y
240 N 2m

3m 6m
z 720 N

E
x A

y 360 N z
2m

720 N y

z E B
A
x
4m 3m
720 N
A
z
360 N E x

7m
The force T exerted by BE is first resolved into
components. The components and magnitude of
the vector BE ,which joins points B and E, are
dx =3 m, dy = -6 m, dz = 2 m, d= 7 m
So, Tx / 3 = Ty/(-6) = Tz / 2 = 840 /7
Tx = 360 N, Ty = -720 N, Tz = 240 N
Using Varignon’s Theorem,
Mx = +(240) (6 m) = + 1440 N.m
My = -(240N) (4m) = -960 N.m
Mz= -(720 N) (4m) – (360 N) (6 m)= -5040 N.m

OR, the computation of Mz may be simplified by moving the projection of T along its line of
action to the point where it intersects the x axis, the moment of Tx about the z axis is now zero.

So, Mz= -(720 N) (7 m) = -5040 N.m

 360 N
A
y x 240 N y
240 N 2m

3m 6m
z 720 N

E
x A

y 360 N z
2m

720 N y

z E B
A
x
4m 3m
720 N
A
z
360 N E x

7m
The force T exerted by BE is first resolved into
components. The components and magnitude of
the vector BE ,which joins points B and E, are
dx =3 m, dy = -6 m, dz = 2 m, d= 7 m
So, Tx / 3 = Ty/(-6) = Tz / 2 = 840 /7
Tx = 360 N, Ty = -720 N, Tz = 240 N
Using Varignon’s Theorem,
Mx = +(240) (6 m) = + 1440 N.m
My = -(240N) (4m) = -960 N.m
Mz= -(720 N) (4m) – (360 N) (6 m)= -5040 N.m

OR, the computation of Mz may be simplified by moving the projection of T along its line of
action to the point where it intersects the x axis, the moment of Tx about the z axis is now zero.

So, Mz= -(720 N) (7 m) = -5040 N.m

Q. Determine the wrench resultant of the force system of example shown in figure.

N(0,4,0)
Cube of 4 m sides

F(0,4,2)

C(1,4,4)
P1=6kN B(4,1,0)
From B to C
O x

G(3,1,4) E(4,0,3)

P2=2.5kN from C to E
z
P3=5kN from F to G
 Forces P1, P2 & P3
y
N(0,4,0)
F(0,4,2)

C(1,4,4)
P1=6kN B(4,1,0)

O x

G(3,1,4) E(4,0,3)

P2=2.5kN
z P3=5kN
P1 = 6{(1-4)i + (4-1)j + (4-0)k / (32+32+42) 1/2 =
-3.09i + 3.09j + 4.116k,

P2=2.5{(4-1)i +(0-4)j+(3 - 4)k/(32+42+12) 1/2 =

1.471i – 1.961j – 0.49k,
 y
N(0,4,0)
F(0,4,2)

C(1,4,4)
P1=6kN B(4,1,0)
x

G(3,1,4) E(4,0,3)

P2=2.5kN
z P3=5kN
P3 = 5{(3-0)i + (1-4)j + (4 - 2) k / (32+32+22) 1/2 =
3.198i - 3.198j + 2.132k,
P1= -3.09i + 3.09j + 4.116k, P2 =1.471i – 1.961j –0.49k,

P3 = 3.198i - 3.198j + 2.132k,

Resultant force R =P1+P2+P3=1.579i –2.069j +5.758k

R = (1.5792+2.0692+5.7582)1/2 = 6.319kN

Direction cosines of R
cos α = 1.579/6.319, α = 75.529º,
cos β = -2.069/6.319, β = 109.11 º
cos γ = 5.758/6.319, γ = 24.324 º

Let the wrench pass through point P (x,y,0) of x-y plane. The moment of all the forces about
point P must be equal to the moment of wrench moment M and the line of action of R and M
must be parallel
Taking moment of all force about point P(x,y,0)
M= ropxP1 + ropxP2 + rgpxP3

i j k
i j k
1-x 4-y 4
1-x 4-y 4
+ 1.471 -1.961 -0.49
MRO -3.09 3.09 4.116
=

i j k
3-x 1-y 4
+ 3.09 -3.09 2.132

= [{(4-y)4.116-4*3.09} +{ (4-y)(-0.49) -4*(-1.96)}+{(1-y)*2.132-4(-3.09)}]i - [{(1-x)*4.116-4*(-

3.09)} -{ (1-x)(-0.49) -4*(1.471}+{(3-x)2.132-4(3.09)}]j +[{(1-x)3.09-(4-y)*(-3.09)}+{ (1-x)(-1.961) –
(4-y)*(1.471)}+{(3-x)(-3.09)-(1-Y)(3.09)]k
The direction cosines of M and R are same. So we can calculate x, y and M.
Q. In a positive wrench acting at a point (3,1,0) m the force component is Fw= (480 i- 840 j +
480 k) N. The magnitude of the moment component is 1170 N-m. Express the complete wrench
vector. Compute the moment of this wrench about the origin.
Sol : Wrench force, Fw =120 (4 i-7 j +4 k) N
Hence unit vector along wrench Fw^ = (4 i-7 j+4 k) / (16+49+16)1/2 =( 4i-7j+4k) /9
Wrench moment is parallel to wrench force
So, Mw = M Fw^ = 1170 * (4 i-7j +4 k) / 9
= ( 520 i-910 j + 520 k) N-m
Now, position vector of the point ( 3,1,0) w.r.t. origin is given by
r = 3i +j +0 k =3 i + j
So, Moment of wrench force about origin is
i j k
M= 3 1 0 = ( 480 i-1440 j- 3000 k )
480 -840 480
Hence the moment of the wrench about the origin is
Mo =M + Mw = ( 480 i-1440 j-3000 k) + (520 i- 910 j+ 520 k)
= ( 1000 i-2350 j-2480 k) N-m.
Q. Determine completely the resultant of the following system of two forces and two
couples :
F1 = 12 i – 7 j + 8 k kN through (4,0,0)
F2 = 3 i + 18 j -3 k kN through ( 3,1,0)
M1= 68 i +23 j +8 k kN m
M2 = 55 i + 72 j – 30 k kN m.
Sol.: r1= 4 i + 0j +0 k = 4 i,
r2 = 3 i + j + 0 k = 3 i + j
Ixj=k, jxk=i, kxi=j,

ixi = jxj = kxk = 0

ixk=-j, jxi=-k, kxj=-i,

Now, moments about origin are given by,

M1 =r1 x F1 =4 i x (12 i -7 j +8 k ) = - 28 k -32 j
M2= r2 x F2 =( 3 i + j )x (3 i+18 j - 3k) =54 k + 9 j -3 k -3 i = -3 i + 9 j +51 k
Mr = M1+M2+C1+C2
= (-32 j-28 k )+(-3 i+9 j+51 k )+ ( 68 i+23 j +8 k) + (55 i+ 72 j - 30 k)
= 120 i +72 j + k
And the force component of the wrench is
Fw = R =F1+ F2 = 15 I +11 j +5 k
Unit vector along the wrench is,Fw = (15 i + 11j +5 k) /√(15)2 +(11)2+(5)2 =0.052 (15 i+ 11 j+5
k)
Moment component of the wrench is Mw =(Mr. Fw) Fw
Mw =[(120 i +72 j +k) ٠ (15 i +11 j+ 5 k) 0.052] Fw
=7 (15 i +11 j +5 k)
Let the wrench cut the XY plane at the point (x,y,0). Taking moments about the origin, Mr = r x
Fw + Mw
r x Fw = Mr - Mw
i j k
x y 0 =(120 i +72 j + k) – ( 105 i +77 j +35 k)
15 11 5
 5y i -5x j +(11x -15 y) k = 15 i -5 j -34 k
X =1, y =3
Also the equation 11x-15 y = -34 is satisfied by x=1 and y= 3.
So, point (1,3,0) is on the wrench.
The resultant is a wrench having force component.
Fw = (15 i + 11 j +5 k ) kN
Moment component,
Mw= (105 i +77 j +35 k) kN m
And the point of application (1,3,0).
Moment of a force about an axis :
Component F1 is chosen in direction parallel to AA’ , and passing through B.

A’

F1 F

d F2
P
B

A
 A’

F1 F

A’
F
B F2
P
P
B

A A
 y x y
Fy

c
a

Fx
Fx b
a
z z
Fz x

y
Fy

Fz
b
x
z
 y
y M
F’ d

x x
z z

y
y

M My

x
x Mx
z Mz
z
Q. A pole AB, 6 m long, is held by 3 guy wires as shown. Determine the moment about each
of the coordinate axes of the force exerted by wire BE on point B. The tension T in wire is
known to be 840 N.

Y B

840 N 6m
C
5m
D
2m 3m
4m
A x
3m 2m

z
 360 N
A
y x 240 N y
240 N 2m

3m 6m
z 720 N

E
x A

y 360 N z
2m

720 N y

z E B
A
x
4m 3m
720 N
A
z
360 N E x

7m
The force T exerted by BE is first resolved into
components. The components and magnitude of
the vector BE ,which joins points B and E, are
dx =3 m, dy = -6 m, dz = 2 m, d= 7 m
So, Tx / 3 = Ty/(-6) = Tz / 2 = 840 /7
Tx = 360 N, Ty = -720 N, Tz = 240 N
Using Varignon’s Theorem,
Mx = +(240) (6 m) = + 1440 N.m
My = -(240N) (4m) = -960 N.m
Mz= -(720 N) (4m) – (360 N) (6 m)= -5040 N.m

OR, the computation of Mz may be simplified by moving the projection of T along its line of
action to the point where it intersects the x axis, the moment of Tx about the z axis is now zero.

So, Mz= -(720 N) (7 m) = -5040 N.m

Ex : Determine the components of the single couple equivalent to the two couples shown.

Mx = -(133.8 * 0.44)
= -58.87 N m
My = (89.2 * 0.30 )
= 26.76 N m
Mz = (89.2 * 0.22 )
= 19.62 N m
y

0.177 m
0.30 m
133.8 N x
89.2 N
o.22

0.22 89.2 N
133.8 N
 y
y
0.177 m My
0.30 m
133.8 N x
89.2 N Mx
89.2 N x
89.2 N Mz
133.8 N 89.2 N
z
Alternate Solution :The components of the equivalent single couple M may also be obtained
by computing the sum of the moments of the four given forces about each of the cordinate
axes :
Mx = -(133.8 )(0.22) -(133.8 )(0.22) = -58.87 N m
My= (89.2) (0.05)- (89.2) (0.17) = 26.76 N m

Mz= (89.2) (0.22) = 19.62 N m

Resolution of a given force into a force at O and a couple :

F2 Ry R

F1 My
O O
Mz O M
Mx Rx

F3 Rz
(c)
(a) (b)
R= (Rx2 +Ry2 +Rz2)0.5
Cos θx = Rx / R , cos θy =Ry / R, cos θz = Rz / R
M= (Mx2 +My2 +Mz2)0.5
Cos Φx =Mx / M , cos Φy = My/M , cos Φz =Mz / M

R R
R M1
M1

M O O
M2
O
(b) (c)
(a)
If, as is generally the case, the force and couple vector are not at a right angle (fig. (a)), the
couple vector may be replaced by two other couple vectors obtained by resolving M into a
component M1 along R and a component M2 in a direction perpendicular to R (fig.(b)). The
couple vector M2 and the force R may then be replaced by a single force R acting along a new
line of action, the original system of forces reduces to R and to a couple of moment M1
acting in a plane perpendicular to R (fig.(c)) . This particular force-couple combination is
called a wrench.
The force R and the couple of moment M1 tend
to move the rigid body along along the line of
action of R and, at the same time, tend to rotate
it about that line. The line of action of R is known
as the axis of the wrench and the ratio M1/R is
called the pitch of the wrench.
Ex : Three cables are attached to a bracket as shown. Repalce the forces exerted by the
cables by three forces at A and three couples directed along the coordinate axes.

y
75 mm 1000 N
mm
C 450
50
50 x
A B
z
700 N 100 mm
600
D
E (150,-150,100)
100 mm
 707 N y
BC 707 N
z A x
C 707 N 300 N
50 600 N
yA 600 N 100
50 1039 N
B D
300 N 600 N
200 N 100
50
75 y
200 N A C 707 N
z B x
600 N 1039 N

D
The components and magnitude of the vector BE are, respectively,
dx =150-75 =75 mm, dy = -150 mm, dz = 100-50 =50 mm
D =√ (75 mm)2 +(-150 mm)2 +(50 mm)2 = 175 mm
Components of the force B from the proportion
Bx = By = Bz = 700
75 -150 50 175
Force Fx,N Fy, N Fz,N Mx,Nm My,Nm Mz,Nm

B 300 -600 200 30 +15 -45

-15
C 707 0 -707 0 +53.03 0
-35.35
D 600 1039 0 0 0 +103.9
+60
Rx= Ry= Rz = Mx = 30 My=17.68 Mz=118.9
+1607 439 -507
 y
17.68 Nm

439 N
y 507 N 30 Nm
118.9
Nm
1607 N x x
Ex: A square foundation mat supports the four columns shown.
Determine the magnitude and point of application of the resultant of
the four loads.

y
177.6 kN

O 53.28 kN
89.6 kN
35.52 kN
A C
z 1.21 m x
1.52 m
1.82 B 1.52
 y
-356
kN
-378.2 O 326.37
kNm kNm

z x

The two couple vectors are perpendicular to the force and may be
eliminated by moving the force to a new point of application.
Fy ,kN Mx, kN m Mz,kN m

-177.6
-53.28 -(53.28)(3.04)= -161.9
-35.52 (35.52)(1.52)= 53.99 -(35.52)(3.04)= -107.9
-89.6 (89.6)(3.04)= 272.38 -(89.6)(1.21)= -108.4

Ry= Mx = 326.37 Mz = - 378.2

-356
 y
O 356 kN

x z
x
z

The two couple vectors are perpendicular to the force and may be
eliminated by moving the force to a new point of application. The
coordinates of this point are

X = 378.2 = 1.062 m , z = 326.37 = 0.91 m

356 356