Statics: Rigid Bodies: Equivalent Systems of Forces

Eleventh Edition
VECTOR MECHANICS FOR ENGINEERS:
3
CHAPTER
STATICS
Ferdinand P. Beer
E. Russell Johnston, Jr.
David F. Mazurek Rigid Bodies:
Equivalent Systems
of Forces
Copyright McGraw-Hill Education. Permission required for reproduction or display.

Edition
Eleventh
Vector Mechanics for Engineers: Statics
Learning Outcomes
At the end of the chapter the students would be able to:
Define a moment and moment of a couple (CO1-PO1)
Use vector algebra, including vector product, scalar product and mixed triple
product (CO1-PO1)
Apply vector product to solve moment about a point (CO1-PO1)
Reduce a given system of forces with a simpler equivalent force-couple system
(CO1-PO1)
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Edition
Eleventh
Contents
Introduction Moment of a Force About a Given Axis
External and Internal Forces Sample Problem 3.5
Principle of Transmissibility: Equivalent Moment of a Couple
Forces Addition of Couples
Vector Products Couple Vectors
Moment of a Force About a Point Resolution of a Force Into a Force at O
Varignons Theorem and a Couple
Rectangular Components of the Sample Problem 3.6
Moment of a Force Reducing a System of Forces to a Force-
Sample Problem 3.1 Couple System
Scalar Products Further Reduction of a System of Forces
Applications of the Scalar Product Sample Problem 3.8
Mixed Triple Products Sample Problem 3.10

Edition
Eleventh
Introduction
Treatment of a body as a single particle is not always possible. In

general, the size of the body and the specific points of application of the
forces must be considered.
Current chapter describes the effect of forces exerted on a rigid body and
how to replace a given system of forces with a simpler equivalent system.
First, we need to learn some new statics concepts, including:

moment of a force about a point
moment of a force about an axis
moment due to a couple
Any system of forces acting on a rigid body can be replaced by an

equivalent system consisting of one force acting at a given point and one
couple.

Edition
Eleventh
External and Internal Forces
Forces acting on rigid bodies are
divided into two groups:
- External forces
- Internal forces
External forces are shown in a free

body diagram.
Internal forces, such as the force

between each wheel and the axel
it is mount on, are never shown
on a free body diagram.

Edition
Eleventh
Principle of Transmissibility: Equivalent Forces
Principle of Transmissibility -
Conditions of equilibrium or motion are
not affected by transmitting a force
along its line of action.
NOTE: F and F are equivalent forces.
Moving the point of application of

the force F to the rear bumper
does not affect the motion or the
other forces acting on the truck.

Edition
Eleventh
Vector Products
Concept of the moment of a force about a point
requires the understanding of the vector product
or cross product.
Vector product of two vectors P and Q is defined

as the vector V which satisfies the following
conditions:
1. Line of action of V is perpendicular to plane
containing P and Q.
2. Magnitude of V is V PQ sin
3. Direction of V is obtained from the right-hand
rule.
Vector products:
- are not commutative, Q P P Q
- are distributive, P Q1 Q2 P Q1 P Q2
- are not associative, P Q S P Q S
Edition
Eleventh
Vector Products: Rectangular Components
Vector products of Cartesian unit vectors,

i i 0 j i k k i j

i j k j j 0 k j i

i k j j k i k k 0
Vector products in terms of rectangular

coordinates

V Px i Py j Pz k Qx i Qy j Qz k
Py Qz Pz Qy i Pz Qx PxQz j
Px Qy Py Qx k
i j k
Px Py Pz
Qx Qy Qz
Edition
Eleventh
Moment of a Force About a Point
A force vector is defined by its magnitude and
direction. Its effect on the rigid body also depends
on its point of application.
The moment of F about O is defined as
MO r F
The moment vector MO is perpendicular to the
plane containing O and the force F.
Magnitude of MO, M O rF sin Fd ,
measures the tendency of the force to cause rotation of
the body about an axis along MO. The sense of the
moment may be determined by the right-hand rule.
Any force F that has the same magnitude and
direction as F, is equivalent if it also has the same line
of action and therefore, produces the same moment.

Edition
Eleventh
Moment of a Force About a Point
Two-dimensional structures have length and breadth but
negligible depth and are subjected to forces contained
only in the plane of the structure.
The plane of the structure contains the point O and the

force F. MO, the moment of the force about O is
perpendicular to the plane.
If the force tends to rotate the structure clockwise, the

sense of the moment vector is out of the plane of the
structure and the magnitude of the moment is positive.
If the force tends to rotate the structure counterclockwise,

the sense of the moment vector is into the plane of the
structure and the magnitude of the moment is negative.
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Edition
Eleventh
Varignons Theorem
The moment about a give point O of the

resultant of several concurrent forces is equal
to the sum of the moments of the various
moments about the same point O.

r F1 F2 r F1 r F2
Varignons Theorem makes it possible to

replace the direct determination of the
moment of a force F by the moments of two
or more component forces of F.

Edition
Eleventh
Rectangular Components of the Moment of a Force
The moment of F about O,
MO r F, r xi yj zk
F Fx i Fy j Fz k
M O M xi M y j M z k
i j k
x y z
Fx Fy Fz
yFz zFy i zFx xFz j xFy yFx k

The components of M o , Mx, My, and Mz, represent the
moments about the x-, y- and z-axis, respectively.

Edition
Eleventh
The moment of F about B,
M B rA/ B F
rA/ B rA rB
x A xB i y A y B j z A z B k
F Fx i Fy j Fz k
i j k
M B x A xB y A yB z A zB
Fx Fy Fz

Edition
Eleventh
For two-dimensional structures,
M O xFy yFz k
MO MZ
xFy yFz
M B x A xB Fy y A yB Fz k
MB MZ
x A xB Fy y A yB Fz

Edition
Eleventh
Sample Problem 3.1
A 100-lb vertical force is applied to the end of a lever
which is attached to a shaft (not shown) at O.
Determine:
a) the moment about O,
b) the horizontal force at A which creates the same
moment,
c) the smallest force at A which produces the same
moment,
d) the location for a 240-lb vertical force to produce
the same moment,
e) whether any of the forces from b, c, and d is
equivalent to the original force.

Edition
Eleventh
Sample Problem 3.1
STRATEGY: The calculations asked for all involve
variations on the basic defining equation of a
moment, MO = Fd.
MODELING and ANALYSIS:
a) Moment about O is equal to the product of the
force and the perpendicular distance between the
line of action of the force and O. Since the force
tends to rotate the lever clockwise, the moment
vector is into the plane of the paper which, by our
sign convention, would be negative or
counterclockwise.
MO Fd
d 24 in.cos 60 12 in.
MO 100 lb12 in. MO 1200 lb in, or
1200 lb in
Edition
Eleventh
Sample Problem 3.1
b) Horizontal force at A that produces the same
moment,
d 24 in.sin 60 20.8 in.
M O Fd
1200 lb in. F 20.8 in.
1200 lb in. F 57.7 lb
F
20.8 in.
Why must the direction of this F be to the right?


Edition
Eleventh
Sample Problem 3.1
F(min) ?
What is the smallest force at A which produces the
same moment? Think about it and discuss with a
neighbor.
c) The smallest force at A to produce the same
moment occurs when the perpendicular distance is
a maximum or when F is perpendicular to OA.
M O Fd
1200 lb in. F 24 in.
1200 lb in.
F F 50 lb
24 in.

Edition
Eleventh
Sample Problem 3.1
d) To determine the point of application of a 240 lb
force to produce the same moment,
M O Fd
1200 lb in. 240 lbd
1200 lb in.
d 5 in.
240 lb
OBcos60 5 in. OB 10 in.

Edition
Eleventh
Sample Problem 3.1
e) Although each of the forces in parts b), c), and d)

produces the same moment as the 100 lb force, none
are of the same magnitude and sense, or on the same
line of action. None of the forces is equivalent to the
100 lb force.
REFLECT and THINK: Various combinations of force and lever arm can
produce equivalent moments, but the system of force and moment produces
a different overall effect in each case.
Edition
Eleventh
Sample Problem 3.4
STRATEGY: The solution requires

resolving the tension in the wire and
the position vector from A to C into
rectangular components. You will
need a unit vector approach to
determine the force components.

The moment MA of the force F exerted
The rectangular plate is supported by
by the wire is obtained by evaluating
the brackets at A and B and by a wire
the vector product,
CD. Knowing that the tension in the
wire is 200 N, determine the moment
M A rC A F
about A of the force exerted by the
wire at C.

Edition
Eleventh
Sample Problem 3.4

M A rC A F
rC A rC rA 0.3 m i 0.08 m j
rC D
F F 200 N
rC D
0.3 m i 0.24 m j 0.32 m k

200 N
0.5 m
120 N i 96 N j 128 N k

i j k

M A 0.3 0 0.08
120 96 128
M A 7.68 N m i 28.8 N m j 28.8 N m k

Edition
Eleventh
Sample Problem 3.4
REFLECT and THINK:
Two-dimensional problems often are solved easily

using a scalar approach, but the versatility of a
vector analysis is quite apparent in a three-
dimensional problem such as this.

Edition
Eleventh
Scalar Products
The scalar product or dot product between
two vectors P and Q is defined as

P Q PQ cos scalar result
Scalar products:

- are commutative, PQ Q P

- are distributive, P Q1 Q2 P Q1 P Q2

- are not associative, P Q S undefined
Scalar products with Cartesian unit components,

P Q Px i Py j Pz k Qx i Qy j Qz k

i i 1 j j 1 k k 1 i j 0 j k 0 k i 0

P Q Px Qx Py Q y Pz Qz

P P Px2 Py2 Pz2 P 2
Edition
Eleventh
Applications of the Scalar Product
Angle between two vectors:

P Q PQ cos Px Qx Py Q y Pz Qz
Px Qx Py Q y Pz Qz
cos
PQ
Projection of a vector on a given axis:

POL P cos projection of P along OL

P Q PQ cos

PQ
P cos POL
Q
For an axis defined by a unit vector:

POL P
Px cos x Py cos y Pz cos z

Edition
Eleventh
Mixed Triple Products
Mixed triple product of three vectors,

S P Q scalar result
The six mixed triple products formed from S, P, and
Q have equal magnitudes but not the same sign,

S PQ P Q S Q S P

S Q P P S Q Q P S
Evaluating the mixed triple product,

S P Q S x Py Qz Pz Qy S y Pz Qx PxQz
S z PxQy Py Qx
Sx Sy Sz
Px Py Pz
Qx Qy Qz
Edition
Eleventh
Moment of a Force About a Given Axis
Moment MO of a force F applied at the point A
about a point O,

MO r F
Scalar moment MOL about an axis OL is the

projection of the moment vector MO onto the
axis,

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

Edition
Eleventh
Moment of a Force About a Given Axis
Moment of a force about an arbitrary axis,
M BL M B

rA B F
rA B rA rB
The result is independent of the point B
along the given axis. That is, the same
result can be gotten using rA C , for
example.

Edition
Eleventh
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.
STRATEGY: Use the equations presented in this

section to compute the moments asked for. You can
find the distance between AG and FC from
the expression for the moment MAG.

Edition
Eleventh
Sample Problem 3.5
MODELING and a) Moment of P about A,
ANALYSIS: M A rF A P
rF A ai a j a i j
PP
2 i 2 j P 2 i j
M A a i j P 2 i j
M A aP 2 i j k
List an alternative to the position vector rF A ,
and discuss your answer with a neighbor.
b) Moment of P about AB,
M AB i M A
i aP 2 i j k
M AB aP 2
Edition
Eleventh
Sample Problem 3.5
c) Moment of P about the diagonal AG,
M AG M A
ai aj ak

rG A 1
i j k
rG A a 3 3
MA
aP
2

i j k
M AG
1
3

i j k
aP
2

i j k
aP
aP M AG
1 1 1 6
6
What if, for , you had chosen rA G instead?
How would that change the answer?
Edition
Eleventh
Sample Problem 3.5
d) Perpendicular distance between AG and FC,
P
P
2

j k
1
3

i j k
P

6
0 11
0 since by definition P =P 1 cos

Therefore, P is perpendicular to AG.
aP
M AG Pd
6
a
d
6
REFLECT and THINK: In a problem like this,

it is important to visualize the forces and moments
in three dimensions so you can choose the
appropriate equations for finding them and also
recognize the geometric relationships between
them.
Edition
Eleventh
Moment of a Couple
Two forces F and -F having the same magnitude,
parallel lines of action, and opposite sense are said
to form a couple.
Moment of the couple,

M rA F rB F

rA rB F

r F
M rF sin Fd
The moment vector of the couple is

independent of the choice of the origin of the
coordinate axes, i.e., it is a free vector that can
be applied at any point with the same effect.

Edition
Eleventh
Moment of a Couple
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.

Edition
Eleventh
Addition of Couples
Consider two intersecting planes P1 and
P2 with each containing a couple
M 1 r F1 in plane P1
M 2 r F2 in plane P2
Resultants of the vectors also form a
couple
M r R r F1 F2
By Varignons theorem
M r F1 r F2
M1 M 2
Sum of two couples is also a couple that is equal
to the vector sum of the two couples
Edition
Eleventh
Couple Vectors
A couple can be represented by a vector with magnitude

and direction equal to the moment of the couple.
Couple vectors obey the law of addition of vectors.
Couple vectors are free vectors, i.e., there is no point of

application it simply acts on the body.
Couple vectors may be resolved into component vectors.

Edition
Eleventh
Resolution of a Force Into a Force at O and a Couple
Force vector F can not be simply moved to O without modifying its

action on the body.
Attaching equal and opposite force vectors at O produces no net

effect on the body.
The three forces may be replaced by an equivalent force vector and

couple vector, i.e, a force-couple system.

Edition
Eleventh
Resolution of a Force Into a Force at O and a Couple
Moving F from A to a different point O requires the

addition of a different couple vector MO

M O' r F
The moments of F about O and O are related,

M O ' r 'F r s F r F s F

MO s F
Moving the force-couple system from O to O requires the
addition of the moment of the force at O about O.

Edition
Eleventh
Sample Problem 3.6
STRATEGY:
Look for ways to add equal and opposite forces

to the diagram that, along with already known
perpendicular distances, will produce new
couples with moments along the coordinate
axes. These can be combined into a single
equivalent couple.
MODELING:
Determine the components of the Attach equal and opposite 20 lb forces in
single couple equivalent to the the x direction at A, thereby producing 3
couples shown. couples for which the moment components
are easily computed.

Edition
Eleventh
Sample Problem 3.6
ANALYSIS:
You can represent these three couples by

three couple vectors Mx, My, and Mz
directed along the coordinate axes. The
corresponding moments are
M x 30 lb18 in. 540 lb in.

M y 20 lb12 in. 240lb in.
M z 20 lb9 in. 180 lb in.
M 540 lb in. i 240lb in. j

180 lb in. k
Edition
Eleventh
Sample Problem 3.6
REFLECT and THINK:
You can also obtain the components of

the equivalent single couple M by
computing the sum of the moments of the
four given forces about an arbitrary point.
Selecting point D, the moment is
M M D 18 in. j 30 lb k
9 in. j 12 in. k 20 lb i
M 540 lb in.i 240lb in. j

180 lb in.k

Edition
Eleventh
Reducing System of Forces to a Force-Couple System
A system of forces may be replaced by a collection of

force-couple systems acting at a given point O
The force and couple vectors may be combined into a
resultant force vector and a resultant couple vector,
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 ,
M OR ' M OR s R
Two systems of forces are equivalent if they can be
reduced to the same force-couple system.
Edition
Eleventh
Further Reduction of a System of Forces
If the resultant force and couple at O are mutually
perpendicular, they can be replaced by a single force acting
along a new line of action.
The resultant force-couple system for a system of forces

will be mutually perpendicular if:
1) the forces are concurrent,
2) the forces are coplanar, or
3) the forces are parallel.

Edition
Eleventh
Further Reduction of a System of Forces
System of coplanar forces
isreduced to a
force-couple system R and M OR that is
mutually perpendicular.
System can be reduced to a single force

by moving the line of action of R until
its moment about O becomes M OR
In terms of rectangular coordinates,

xR y yRx M OR

Edition
Eleventh
Sample Problem 3.8
STRATEGY:
The force part of an equivalent
force-couple system is simply the
sum of the forces involved. The
couple part is the sum of the
moments caused by each force
relative to the point of interest.
For the beam, reduce the system of Once you find the equivalent
forces shown to (a) an equivalent force-couple at one point, you can
force-couple system at A, (b) an transfer it to any other point by a
equivalent force couple system at B, moment calculation.
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.

Edition
Eleventh
Sample Problem 3.8
a) Compute the resultant force and the
resultant couple at A.
R F
150 N j 600 N j 100 N j 250 N j

R 600 N j
M AR r F
1.6 i 600 j 2.8 i 100 j
4.8 i 250 j
M AR 1880 N m k

Edition
Eleventh
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 600 N j
The couple at B is equal to the moment about B

of the force-couple system found at A.
M BR M AR rB A R
1880 N m k 4.8 m i 600 N j
1880 N m k 2880 N m k
M BR 1000 N m k

Edition
Eleventh
Sample Problem 3.8
c) The resultant of the given system of
forces is equal to R, and its point of
application must be such that the
moment of R about A is equal to M RA. This
equality of moments leads to
r R M RA
xi 600 N j 1880 N mk Solving for x, you get x = 3.13 m.
x600 N k 1880 N mk Thus, the single force equivalent
to the given system is defined as
R 600 N , x 3.13 m
REFLECT and THINK:

This reduction of a given system of forces to a single equivalent force uses the
same principles that you will use later for finding centers of gravity and centers
of mass, which are important parameters in engineering mechanics.
Edition
Eleventh
Sample Problem 3.10
STRATEGY:
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 F
Three cables are attached to the Compute the equivalent couple,

bracket as shown. Replace the
forces with an equivalent force- M AR r F
couple system at A.

Edition
Eleventh
Sample Problem 3.10
Resolve the forces into rectangular
components.
FB 700 N
rE B 75 i 150 j 50k

rE B 175
0.429 i 0.857 j 0.289k

MODELING and ANALYSIS: FB 300 i 600 j 200k N
Determine the relative position FC 1000 N cos 45 i cos 45 j
vectors with respect to A.

rB A 0.075 i 0.050k m 707 i 707 j N

rC A 0.075 i 0.050k m FD 1200 N cos 60 i cos 30 j

rD A 0.100 i 0.100 j m 600 i 1039 j N
Edition
Eleventh
Sample Problem 3.10
Compute the equivalent force, Compute the equivalent couple,

R F R
M A r F
300 707 600 i
i j k
600 1039 j
rB A F B 0.075 0 0.050 30i 45k
200 707 k 300 600 200

R 1607i 439 j 507k N i j k

rC A F c 0.075 0 0.050 17.68 j
707 0 707

i j k

rD A F D 0.100 0.100 0 163.9k
600 1039 0
R
M A 30 i 17.68 j 118.9k

Edition
Eleventh
Sample Problem 3.10
REFLECT and THINK:
The determinant approach to calculating

moments shows its advantages in a general
three-dimensional problem such as this.

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Eleventh Edition

VECTOR MECHANICS FOR ENGINEERS:

Copyright McGraw-Hill Education. Permission required for reproduction or display.

Copyright McGraw-Hill Education. Permission required for reproduction or display. 3-2

Copyright McGraw-Hill Education. Permission required for reproduction or display. 3-3

Treatment of a body as a single particle is not always possible. In

First, we need to learn some new statics concepts, including:

Any system of forces acting on a rigid body can be replaced by an

Copyright McGraw-Hill Education. Permission required for reproduction or display. 3-4

External forces are shown in a free

Internal forces, such as the force

Copyright McGraw-Hill Education. Permission required for reproduction or display. 3-5

Moving the point of application of

Copyright McGraw-Hill Education. Permission required for reproduction or display. 3-6

Vector product of two vectors P and Q is defined

Vector products in terms of rectangular

Copyright McGraw-Hill Education. Permission required for reproduction or display. 3-9

The plane of the structure contains the point O and the

If the force tends to rotate the structure clockwise, the

If the force tends to rotate the structure counterclockwise,

Copyright McGraw-Hill Education. Permission required for reproduction or display. 3 - 10

The moment about a give point O of the

Varignons Theorem makes it possible to

Copyright McGraw-Hill Education. Permission required for reproduction or display. 3 - 11

yFz zFy i zFx xFz j xFy yFx k

Copyright McGraw-Hill Education. Permission required for reproduction or display. 3 - 12

The moment of F about B,

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Copyright McGraw-Hill Education. Permission required for reproduction or display. 3 - 14

Copyright McGraw-Hill Education. Permission required for reproduction or display. 3 - 15

Why must the direction of this F be to the right?

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Copyright McGraw-Hill Education. Permission required for reproduction or display. 3 - 19

e) Although each of the forces in parts b), c), and d)

STRATEGY: The solution requires

MODELING and ANALYSIS:

Copyright McGraw-Hill Education. Permission required for reproduction or display. 3 - 21

0.3 m i 0.24 m j 0.32 m k

M A 7.68 N m i 28.8 N m j 28.8 N m k

REFLECT and THINK:

Two-dimensional problems often are solved easily

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Projection of a vector on a given axis:

For an axis defined by a unit vector:

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Scalar moment MOL about an axis OL is the

Moments of F about the coordinate axes,

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A cube is acted on by a force P as

STRATEGY: Use the equations presented in this

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0 since by definition P =P 1 cos

REFLECT and THINK: In a problem like this,

Moment of the couple,

The moment vector of the couple is

Copyright McGraw-Hill Education. Permission required for reproduction or display. 3 - 33

Two couples will have equal moments if

the two couples lie in parallel planes, and

the two couples have the same sense or

Copyright McGraw-Hill Education. Permission required for reproduction or display. 3 - 34

A couple can be represented by a vector with magnitude