Sistema Equivalente de Fuerza - c03

VECTOR MECHANICS FOR ENGINEERS:
STATICS
Eighth Edition
Ferdinand P. Beer
E. Russell Johnston, Jr.

Lecture Notes:
J. Walt Oler
Texas Tech University
CHAPTER
2007 The McGraw-Hill Companies, Inc. All rights reserved.
3
Cuerpo Rgido:
Sistema equivalente
de Fuerza
Vector Mechanics for Engineers: Statics
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3 - 2
Contenidos
Introduccin
Fuerzas externas e internas
Principio de Transmisibilidad:
Equivalencia de Fuerza
Vector Producto vectorial de dos vectores
Momento de una fuerza alrededor de un
punto
Teorema de Varignons
Componentes Rectangular del Momento
de una fuerza
Problema de ejemplo 3.1
Producto escalar de dos Vectores
Producto escalar de dos Vectores:
Aplicaciones
Triple producto de tres vectores
Momento de una fuerza alrededor de un eje
dado
Momento de una a un par
Suma de pares
Representacin vectorial de pares
Descomposicin de una fuerza dada en una
fuerza en O y un par
Sistema de fuerza: Reduccin de una fuerza y
un par
Otra reduccin de un sistema de Fuerza
Problem de ejemplo3.10
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3 - 3
Introduccin
La consideracin de un cuerpo como una partcula simple no siempre es
posible. En general, el tamao del cuerpo y la especificacin del punto
de aplicacin de la fuerza se deben considerar.ado.
La mayora de los cuerpos en la mecnica elemental son considerados
rgidos., i.e., la deformacin son pequeas y no afectan la condicin de
equilibrio o movimiento de la estructura en consideracin..
En este capitulo describiremos el efecto de las fuerzas aplicadas sobre un
cuerpo rgido y como reemplazar un sistema de fuerza dada con un
sistema equivalente simple.
Momento de una fuerza alrededor de un punto
Momento de una fuerza alrededor de un eje.
Momento de un par .
Algunos sistemas de fuerza actuando en un cuerpo rgido pueden ser
reemplazado por un sistema equivalente que consiste de una fuerza
actuando en un punto dado y un par.
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3 - 4
Fuerza externas e internas.
Una fuerza actuando en un
cuerpo rgido pueden ser
dividido en dos grupos.:
- Fuerzas externas
- Fuerzas internas
Las fuerzas externas representa la
accin de otros cuerpos sobre el
cuerpo rgido en consideracin.
Las fuerzas internas son las que
mantienen unidas las partculas
que forman el cuerpo rgido

Si nada se opone, cada fuerza
externa puede impartir un
movimiento de traslacin o
rotacin o ambos.
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3 - 5
Principio de transmisibilidad : Equivalencia de Fuerza
Principio de Transmisibilidad-
Condicin de equilibrio o movimiento
que no afecta por transmisin de fuerza
a lo largo de su la lnea de accin.
NOTA: F y F son fuerzas equivalentes
Movimiento del punto de
aplicacin de la fuerza F de la
parte de atrs del para golpe que
no fecta el movimiento de otra
fuerza actuando al camin.
El principio de transmisibilidad no
tiene aplicacin en las fuerzas
internas y deformaciones.
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3 - 6
Producto vectorial de dos vectores
El concepto del momento de una fuerza alrededor
de un punto es mas fcilmente entendible en la
aplicacin del producto cruz de vectores.
El producto vectorial de dos vectores P y Q es
definido como el vector V el cual satisface las
siguientes condiciones:
1. La lnea de accin del vector V es
perpendicular al plano que contiene a P y Q.
2. La magnitud de V es
3. La direccin de V es obtenida por medio de la
regla de la mano derecha.
u sin Q P V =
Producto vectorial:
- No es conmutativa,
- Es distributiva,
- No es asociativa,
( ) Q P P Q =
( )
2 1 2 1
Q P Q P Q Q P + = +
( ) ( ) S Q P S Q P =
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3 - 7
Producto vectorial: Componentes Rectangular
Producto Vectorial de vectores cartesianos unitario,
0
0
0
= = =
= = =
= = =
k k i k j j k i
i j k j j k j i
j i k k i j i i

Producto Vectorial en trminos de
coordenadas rectangulares
( ) ( ) k Q j Q i Q k P j P i P V
z y x z y x

+ + + + =
( ) ( )
( )k Q P Q P
j Q P Q P i Q P Q P
x y y x
z x x z y z z y

+
+ =
z y x
z y x
Q Q Q
P P P
k j i

=
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Momento de una Fuerza alrededor de un punto
Un vector fuerza esta definido por su magnitud y
direccin. Su efecto en el cuerpo rgido depende
de sus punto de aplicacin.
El momento de una fuerza F alrededor de O esta definida
como
F r M
O
=
El momento vector M
O
es perpendicular al plano
que contiene a O y a la fuerza F.
Una fuerza F tiene la misma magnitud y direccin de
F, es equivalente si tiene la misma lnea de accin y
por lo tanto produce el mismo momento.
La magnitud de M
O
mide la tendencia de la fuerza a
causar rotacin del cuerpo a lo largo de un eje M
O
.
El sentido del momento puede ser determinado por
la regla de la mano derecha.

Fd rF M
O
= = u sin
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3 - 9
Moment of a Force About a Point
Two-dimensional structures have length and breadth but
negligible depth and are subjected to forces contained in
the plane of the structure.
The plane of the structure contains the point O and the
force F. M
O
, 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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3 - 10
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.
Varigons 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.
( )
+ + = + +
2 1 2 1
F r F r F F r
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3 - 11
Rectangular Components of the Moment of a Force
( ) ( ) ( )k yF xF j xF zF i zF yF
F F F
z y x
k j i
k M j M i M M
x y z x y z
z y x
z y x O

+ + =
=
+ + =
The moment of F about O,
k F j F i F F
k z j y i x r F r M
z y x
O

+ + =
+ + = = ,
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The moment of F about B,
F r M
B A B

=
/
( ) ( ) ( )
k F j F i F F
k z z j y y i x x
r r r
z y x
B A B A B A
B A B A

+ + =
+ + =
=
/
( ) ( ) ( )
z y x
B A B A B A B
F F F
z z y y x x
k j i
M =

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3 - 13
For two-dimensional structures,
( )
z y
Z O
z y O
yF xF
M M
k yF xF M
=
=
=

( ) ( ) | |
( ) ( )
z B A y B A
Z O
z B A y B A O
F y y F x x
M M
k F y y F x x M
=
=
=

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3 - 14
Sample Problem 3.1
A 100-lb vertical force is applied to the end of a
lever which is attached to a shaft at O.
Determine:
a) moment about O,
b) horizontal force at A which creates the same
moment,
c) smallest force at A which produces the same
moment,
d) 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.
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Sample Problem 3.1
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.
( )
( )( ) in. 12 lb 100
in. 12 60 cos in. 24
=
= =
=
O
O
M
d
Fd M
in lb 1200 =
O
M
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3 - 16
Sample Problem 3.1
c) Horizontal force at A that produces the same
moment,
( )
( )
in. 8 . 20
in. lb 1200
in. 8 . 20 in. lb 1200
in. 8 . 20 60 sin in. 24
=
=
=
= =
F
F
Fd M
d
O
lb 7 . 57 = F
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Sample Problem 3.1
c) The smallest force A to produce the same moment
occurs when the perpendicular distance is a
maximum or when F is perpendicular to OA.
( )
in. 4 2
in. lb 1200
in. 4 2 in. lb 1200
=
=
=
F
F
Fd M
O
lb 50 = F
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3 - 18
Sample Problem 3.1
d) To determine the point of application of a 240 lb
force to produce the same moment,
( )
in. 5 cos60
in. 5
lb 40 2
in. lb 1200
lb 240 in. lb 1200
=
=
=
=
=
OB
d
d
Fd M
O
in. 10 = OB
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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.
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3 - 20
Sample Problem 3.4
The rectangular plate is supported by
the brackets at A and B and by a wire
CD. Knowing that the tension in the
wire is 200 N, determine the moment
about A of the force exerted by the
wire at C.
SOLUTION:
The moment M
A
of the force F exerted
by the wire is obtained by evaluating
the vector product,
F r M
A C A

=
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Sample Problem 3.4
SOLUTION:
128 96 120
08 . 0 0 3 . 0

=
k j i
M
A
( ) ( ) ( )k j i M
A

m N 8.8 2 m N 8.8 2 m N 68 . 7 + + =
( ) ( ) j i r r r
A C A C

m 08 . 0 m 3 . 0 + = =
F r M
A C A

=
( )
( )
( ) ( ) ( )
( ) ( ) ( )k j i
k j i
r
r
F F
D C
D C

N 128 N 6 9 N 120
m 5 . 0
m 32 . 0 m 0.24 m 3 . 0
N 200
N 200
+ =
+
=
= =
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3 - 22
Scalar Product of Two Vectors
The scalar product or dot product between
two vectors P and Q is defined as
( ) result scalar cosu PQ Q P = -

Scalar products:
- are commutative,
- are distributive,
- are not associative,
P Q Q P

- = -
( )
2 1 2 1
Q P Q P Q Q P

- + - = + -
( ) undefined = - - S Q P

Scalar products with Cartesian unit components,
0 0 0 1 1 1 = - = - = - = - = - = - i k k j j i k k j j i i

( ) ( ) k Q j Q i Q k P j P i P Q P
z y x z y x

+ + - + + = -
2 2 2 2
P P P P P P
Q P Q P Q P Q P
z y x
z z y y x x
= + + = -
+ + = -

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Scalar Product of Two Vectors: Applications
Angle between two vectors:
PQ
Q P Q P Q P
Q P Q P Q P PQ Q P
z z y y x x
z z y y x x
+ +
=
+ + = = -
u
u
cos
cos

Projection of a vector on a given axis:
OL
OL
P P
Q
Q P
PQ Q P
OL P P P
= =
-
= -
= =
u
u
u
cos
cos
along of projection cos

z z y y x x
OL
P P P
P P
u u u
cos cos cos + + =

- =

For an axis defined by a unit vector:
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Mixed Triple Product of Three Vectors
Mixed triple product of three vectors,
( ) result scalar = - Q P S

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

- = - = - =
- = - = -
( ) ( ) ( )
( )
z y x
z y x
z y x
x y y x z
z x x z y y z z y x
Q Q Q
P P P
S S S
Q P Q P S
Q P Q P S Q P Q P S Q P S
=
+
+ = -

Evaluating the mixed triple product,
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3 - 25
Moment of a Force About a Given Axis
Moment M
O
of a force F applied at the point A
about a point O,
F r M
O

=
Scalar moment M
OL
about an axis OL is the
projection of the moment vector M
O
onto the
axis,

( ) F r M M
O OL

- = - =
Moments of F about the coordinate axes,
x y z
z x y
y z x
yF xF M
xF zF M
zF yF M
=
=
=
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3 - 26
Moment of a Force About a Given Axis
Moment of a force about an arbitrary axis,
( )
B A B A
B A
B BL
r r r
F r
M M

=
- =
- =
The result is independent of the point B

along the given axis.
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3 - 27
Sample Problem 3.5
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.
A cube is acted on by a force P as
shown. Determine the moment of P
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Sample Problem 3.5
Moment of P about A,
( )
( ) ( )
( ) ( ) j i P j i a M
j i P j i P P
j i a j a i a r
P r M
A
A F
A F A

+ =
+ = + =
= =
=
2
2 2 2
( )( ) k j i aP M
A

+ + = 2
Moment of P about AB,
( )( ) k j i aP i
M i M
A AB

+ + - =
- =
2
2 aP M
AB
=
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3 - 29
Sample Problem 3.5
Moment of P about the diagonal AG,
( )
( )
( ) ( )
( ) 1 1 1
6
2 3
1
2
3
1
3
=
+ + - =
+ + =
=

= =
- =
aP
k j i
aP
k j i M
k j i
aP
M
k j i
a
k a j a i a
r
r
M M
AG
A
G A
G A
A AG
6
aP
M
AG
=
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3 - 30
Sample Problem 3.5
Perpendicular distance between AG and FC,
( ) ( ) ( )
0
1 1 0
6 3
1
2
=
+ = - = -
P
k j i k j
P
P

Therefore, P is perpendicular to AG.

Pd
aP
M
AG
= =
6
6
a
d =
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3 - 31
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,
( )
( )
Fd rF M
F r
F r r
F r F r M
B A
B A
= =
=
=
+ =
u sin
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.
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Moment of a Couple
Two couples will have equal moments if

2 2 1 1
d F d F =
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.
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3 - 33
Addition of Couples
Consider two intersecting planes P
1
and
P
2
with each containing a couple
2 2 2
1 1 1
plane in
plane in
P F r M
P F r M
=
=
Resultants of the vectors also form a
couple
( )
2 1
F F r R r M

+ = =
By Varigons theorem
2 1
2 1
M M
F r F r M

+ =
+ =
Sum of two couples is also a couple that is equal
to the vector sum of the two couples
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Couples Can Be Represented by 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., the point of application
is not significant.
Couple vectors may be resolved into component vectors.
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3 - 35
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.
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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 M
O

F r M
O

'
=
'
The moments of F about O and O are related,
( )
F s M
F s F r F s r F r M
O
O
+ =
+ = + = = '
'
Moving the force-couple system from O to O requires the
addition of the moment of the force at O about O.
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3 - 37
Sample Problem 3.6
Determine the components of the
single couple equivalent to the
couples shown.
SOLUTION:
Attach equal and opposite 20 lb 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..
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3 - 38
Sample Problem 3.6
Attach equal and opposite 20 lb forces in
the +x direction at A
The three couples may be represented by
three couple vectors,
( )( )
( )( )
( )( ) in. lb 180 in. 9 lb 20
in. lb 240 in. 12 lb 20
in. lb 540 in. 18 lb 30
+ = + =
+ = + =
= =
z
y
x
M
M
M
( ) ( )
( )k
j i M

in. lb 180
in. lb 240 in. lb 540
+
+ =
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3 - 39
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.
( ) ( )
( ) ( ) | | ( )i k j
k j M M
D

lb 20 in. 12 in. 9
lb 30 in. 18
+
= =
( ) ( )
( )k
j i M

in. lb 180
in. lb 240 in. lb 540
+
+ =
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3 - 40
System of Forces: Reduction to a Force and Couple
A system of forces may be replaced by a collection of
force-couple systems acting a given point O
The force and couple vectors may be combined into a
resultant force vector and a resultant couple vector,
( )

= = F r M F R
R
O

The force-couple system at O may be moved to O
with the addition of the moment of R about O ,
R s M M
R
O
R
O

+ =
'
Two systems of forces are equivalent if they can be
reduced to the same force-couple system.
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3 - 41
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.
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3 - 42
Further Reduction of a System of Forces
System of coplanar forces is reduced to a
force-couple system that is
mutually perpendicular.
R
O
M R

and
System can be reduced to a single force
by moving the line of action of until
its moment about O becomes
R
O
M
In terms of rectangular coordinates,

R
O x y
M yR xR =
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3 - 43
Sample Problem 3.8
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.
SOLUTION:
a) Compute the resultant force for the
forces shown and the resultant
couple for the moments of the
forces about A.
b) Find an equivalent force-couple
system at B based on the force-
couple 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.
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Sample Problem 3.8
SOLUTION:
a) Compute the resultant force and the
resultant couple at A.
( ) ( ) ( ) ( ) j j j j
F R

N 250 N 100 N 600 N 150 + =
=

( ) j R

N 600 =
( )
( ) ( ) ( ) ( )
( ) ( ) j i
j i j i
F r M
R
A

250 8 . 4
100 8 . 2 600 6 . 1
+
+ =
=

( )k M
R
A

m N 1880 =
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3 - 45
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.
( ) j R

N 600 =
The couple at B is equal to the moment about B
of the force-couple system found at A.
( ) ( ) ( )
( ) ( )k k
j i k
R r M M
A B
R
A
R
B

m N 2880 m N 1880
N 600 m 8 . 4 m N 1880
+ =
+ =
+ =
( )k M
R
B

m N 1000 + =
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3 - 46
Sample Problem 3.10
Three cables are attached to the
bracket as shown. Replace the
forces with an equivalent force-
couple system at A.
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,
= F R

Compute the equivalent couple,
( )
= F r M
R
A


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Sample Problem 3.10
SOLUTION:
Determine the relative position
vectors with respect to A.
( )
( )
( ) m 100 . 0 100 . 0
m 050 . 0 075 . 0
m 050 . 0 075 . 0
j i r
k i r
k i r
A D
A C
A B

=
=
+ =
Resolve the forces into rectangular
components.
( )
( ) N 200 600 300
289 . 0 857 . 0 429 . 0
175
50 150 75
N 700
k j i F
k j i
k j i
r
r
F
B
B E
B E
B

+ =
+ =
+
= =
=
( )( )
( ) N 1039 600
30 cos 60 cos N 1200
j i
j i F
D

+ =
+ =
( )( )
( ) N 707 707
45 cos 45 cos N 1000
j i
j i F
C

=
=
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3 - 48
Sample Problem 3.10
Compute the equivalent force,
( )
( )
( )k
j
i
F R

707 200
1039 600
600 707 300
+
+ +
+ + =
=

( ) N 507 439 1607 k j i R

+ =
Compute the equivalent couple,
( )
k
k j i
F r
j
k j i
F r
k i
k j i
F r
F r M
D A D
c A C
B A B
R
A
9 . 163
0 1039 600
0 100 . 0 100 . 0
68 . 17
707 0 707
050 . 0 0 075 . 0
45 30
200 600 300
050 . 0 0 075 . 0
= =
=
=
=
=
=

k j i M
R
A

9 . 118 68 . 17 30 + + =

Sistema Equivalente de Fuerza - c03

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VECTOR MECHANICS FOR ENGINEERS:

2007 The McGraw-Hill Companies, Inc. All rights reserved.

cos cos cos + + =

The result is independent of the point B

Therefore, P is perpendicular to AG.

The moment vector of the couple is

In terms of rectangular coordinates,

2007 The McGraw-Hill Companies, Inc. All rights reserved.

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