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Cross Product
Magnitude:
C=AB sin
Direction:
C is perpendicular to
both A and B
Distributive Law
A B D A B A D
i j k i k j ii 0
j k i j i k j j 0
k i j k j i k k 0
Let A Axi Ay j Az k
B Bxi By j Bz k
i j k
A B Ax Ay Az
Bx By Bz
i ( Ay Bz - Az By )
- j ( Ax Bz - Az Bx )
k ( Ax By - Ay Bx )
M o Fd
Direction R.H. Rule
Note :
r sin d for any d,
Namas Chandra Hibbeler
Introduction to Mechanical engineering Chapter 3-8
EML 3004C
Let F Fx i Fy j Fz k
and r rxi ry j rz k
Then,
i j k
M o r F rx ry rz
Fx Fy Fz
Solution:
CCW M RB M B ;
4 3
M RB 375 (11) (500) (5) (500) (0)
5 5
160 cos 30(0) 160 sin 30(0.5)
M RB 6165 lb ft 6.16 kip ft CCW
Namas Chandra Hibbeler
Introduction to Mechanical engineering Chapter 3-11
EML 3004C
Solution-Cont
Moment about point A :
MA r F
Use r rAB
i j k
0 0 6
40 -60 -120
0 (-120) - (-60)(6) i - 0(-120)-40(6) j 0(-60)-40(0) k
360i 240j N m
Namas Chandra Hibbeler
Introduction to Mechanical engineering Chapter 3-13
EML 3004C
Solution-Cont
Use r rAC
i j k
MA 2 -3 0
40 -60 -120
(3) (-120) - (-60)(0) i - 2(-120)-40(0) j 2(-60)-40(-3) k
360i 240j N m
Solution:
Net moment should be zero
Solution:
M 0 r F r F1 F2 r F1 r F2
The two steps in the previous analysis can be combined with the
definition of a scalar triple product. Since dot product is commutative
If M o r F and M a ua M o then
M a ua r F
i j k
uax i ua y j uaz k rx ry rz
Fx Fy Fz
uax ua y uaz
rx ry rz
Fx Fy Fz
Solution:
Force Vector:
F 600 (cos 60 i cos 60 j cos45k)
300i 300j 424.26 k N
Position Vector:
r -0.1 i 0.15 k m
Solution-Cont
Magnitude of the moment along y axis:
M y j (r F)
0 1 0
-0.1 0 0.15
300 300 424.26
=0-1 (-0.1)(424.26)-(300)(0.15) 0
87.4 N m
In cartesian vector form:
M y 87.4 j N m
Namas Chandra Hibbeler
Introduction to Mechanical engineering Chapter 3-24
EML 3004C
Solution-Cont
(b)
CCW M R M B ;
4
M R 100cos30(3) (150)(4) 100cos30(9)
5
M R 39.6 lb ft
39.6 lb ft CW
Namas Chandra Hibbeler
Introduction to Mechanical engineering Chapter 3-26
EML 3004C
Solution:
a. Find the normal distance for
each case first.
M c 40cos 30(4) 60 54 (4)
53.4lb.ft (CW)
M 1 50k N.m
M 2 20 cos 20sin 30 i 20 cos 20 cos 30 j
20sin 20 k N.m
= 9.397i 16.276 j 6.840k N.m
M R M1 M 2
9.397i 16.276 j 6.840k 50k N.m
= 9.397i 16.276 j 56.840k N.m
Solutioncontd.
Extend this idea to a general 3-D case. Now, the force can be moved
Force now causes the force at any point 0 and then a couple.
M Ro M 0
FR 30 50 40 20 140kN 140kN
M R x M x ;
-140y 50(3) 30(11) 40(13)
y 7.14m
MR y M y ;
140x 50(4) 20(10) 40(10)
x 5.71m
Namas Chandra Hibbeler
Introduction to Mechanical engineering Chapter 3-37
EML 3004C
Solution:
Force Summation:
FRx Fx ;
40
FRx (2.25) 3sin 60 -0.40295 kN
41
FRy Fy ;
9
FRy (2.25) 3sin 60 -1.0061 kN
41
Namas Chandra Hibbeler
Introduction to Mechanical engineering Chapter 3-38
EML 3004C
Solution:
FR F FR F1 F2 F3
300 100 i 400 100 j
100 50 500 k
400i 300 j 650k N
Solution (contd).
MR MA
rAB F1 rAB F2 rAB F3
i j k i j k
0 0 12 0 0 12
300 400 100 100 100 50
i j k
0 1 12
0 0 500
3100i 4800 j N.m
Namas Chandra Hibbeler
Introduction to Mechanical engineering Chapter 3-41
EML 3004C