8/16/2015

Topic 3
Resultants, Distributed forces, Free body
diagram, Equilibrium

Resultants

Today lecture

 Resultants of force system

 Concurrent force system
 General force system
 Coplanar force system
 Noncoplanar parallel force system
Distributed forces

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Resultants of force systems

Coplanar force system
y F2 y y The line of
F1 action of R
R

d1 R
F3 dR Ry
d4 d2
x Rx x
Fn O d3 x O O
xR
a) b) c)

 Resultant of the coplanar forces  The intercept xR of line of action with

R = Rx + Ry = Rx i + Ry j = R e Ox
Rx = Fx; Ry = Fy M O
xR 
Ry
R  R  (Fx ) 2  (Fy ) 2
RdR = F1d1 + F2d2 + …+ Fndn = MO
e = cosx i + cos y j
Fx Fy
cos  x  ; cos  y 
R R 3

Resultants of force systems

Coplanar force system

F1 F2 F3 R

x1
x2 xR
x3

Coplanar parallel forces

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Resultants of force systems

Noncoplanar parallel force system
z z

F1
F2 R
Fn y y
xn xR

x yn x yR

a) b)

 Resultant of the force system

R = F1 + F2 + …+ Fn = R k = F k
 The intersection of the line of action of R and the xy- plane
M y M x
xR   ; yR  
R R
MO = r  R = r1  F1 + r2  F2 + … rn  Fn
RxR = F1x1 + F2x2 + …+ Fnxn = - My
RyR = F1y1 + F2y2 + …+ Fnyn = - Mx
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Resultants of force systems

General force system
C1
Fn

F2 Fn
F2

O O
F1

F1 Cn C2
F3
b)
a)
General force system Move the forces to the origin of coordinate
z
z z
Fz Cz R

C
y y
O O O
Fy Cy
Fx Cx
x x
c) d)
e)
Force components couple components Resultants of forces and couples
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Resultants of force systems

General force system

z z

O O
R C
d
R
x x R

Resultants of force systems

General force system
 Resultant of forces
R = Rx + Ry + Rz = Rx i + Ry j + Rz k = R e

Rx = Fx; Ry = Fy; Rz = Fz

R  R  (Fx ) 2  (Fy ) 2  (Fz ) 2

e = cosx i + cosy j + cosz k

Fx F y Fz
cos x  cos  y  cos  z 
R R R

The resultant of the couples C

C = Cx + Cy + Cz = Cx i + Cy j + Cz k = C e

C  C  ( C x ) 2  ( C y ) 2  ( C z ) 2
e = cos x i + cos y j + cos z k

C x C y C z
cos  x  cos  y  cos  z 
C C C
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Resultants of force systems

General force system

z z z
C

C
y C y y
O O O
R R C
C d
R
x x x R

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Topic 3
Resultants, Distributed forces,
Free body diagram, Equilibrium

Distributed Force System

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I. Introduction

 Surface
• Water pressure on a dam wall
• Wind load on the sides of a building
• Gas pressure on a pressurized gas vessel
• Floor load of students and desk in classroom

 Body force
• Gravitational attraction
• Electromagnetic forces
• Nuclear forces

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II. Distributed Force along straight line

II.1 Resultant and moment about O of distributed force system
y y
f(x)

dFR= F(x)dx
x x

L x dx
a) b)

 The force per unit length:  The moment of force on a small piece of
w = f(x) (N/m) length about O
dM rO  xi  f ( x )dx j
 The force on a small piece of length
Total moment
dFR = f(x)dx.j L L
M rO   xi  f ( x)dx j   x  f ( x)dx k
The equivalent force 0 0
L
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FR   f ( x)dxj
0

II. Distributed Force along straight line

II.2. Location of FR
The moment of the force at xR, MRxR=0
y
A

C
M RO  M RxR  rOxR  FR or M RxR  M RO  rxRO  FR
x
L L
M rO   x  f ( x)dx k  0  xR i   f ( x)dx j
0 0 xR
L L
c)
 x  f ( x)dx
0
 xR  f ( x)dx
0
L
The distributed force system is statically equivalent
 x  f ( x)dx
0
to FR acting as a point force at xR as the force and
xR  L moment about any point for each are identical

 f ( x)dx
0

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II. Distributed force along straight line

II.3 Uniform load
f(x) = w/L y
As a vector
F
f(x) j = -w/L j
f(x) = (w/L)(N/m)
 Resultant force vector
L L
w O x
FR   f ( x)dxj    dxj
0 0
L
w
  j  L   wj L/2
L
 Line of action L

L L
w w x2
 x  f ( x)dx  x  ( L )dx  x L
xR  0
L
 0
L
 L 2  
w w 2 2
 x
 f ( x)dx
0
 ( L )dx
0
L
The line of action at the center of length
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II. Distributed force along straight line

II.3. Linear increasing load

 Assume: w increase from 0 to PR y

PR
FR
 The force vector
x
f ( x)   Px j
L O x
L L
x P  x2  P
FR   ( Px ) dxj   R   j   R Lj
L L  2 0 2
0
2L/3
Load at center × length L
 Position of FR

L L
x  x3  -Line of action is 2/3 from zero end
0 ( Px ) L xdx L 2
x dx
3
 0 2
- And is 1/3 from max end
xR  L
  L
 L
x 0
xdx  x 2 3
0 ( Px ) L dx 2
 0 16

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III. Other kinds of distributed force

III.1. Distributed force over the curve line
FR   f ( s )ds
L
M RO   r  f ( s )ds
0

III.2. Distributed force over the surface

fA(s,t)
FR   f A ( s, t )ds
AL rP
dA Small area
M RO   rP  f A ( s, t )ds P
0
z
III.3. Distributed force over the volume
fv(r,s,t)
FR   fV (r , s, t )dV dV
rP
V L
y
M RO   rP  fV (r , s, t )dV rP
0
x
P
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IV. Examples
Example 3.2

y
Determine the resultant of this system of

w = 300 N/m distributed loads and locate its line of action

with respect to the left support of the
O x
beam.

2m 6m 4m
a)

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IV. Examples
Example 3.2

 The magnitudes of the equivalent forces

y
1
F2
F1  b1 h1  0.5  2  (300)  300N
F1 F3 2
F2  b2 h2  6  (300)  1800N
O 1
F3  b3 h3  0.5  4  (300)  600N
2
 The magnitude of the resultant
R = 300 N + 1800 N + 600 N =2700 N
1.33 m 5 m 9.33 m
 The centroids
b) 2
x C1   b1  1.33 m
3
1
xC 2  b1   b2  2  3  5 m
2
1 1
xC 3  b2   b3  5  4  9.33 m 19
3 3

IV. Examples
Example 3.2

The resultant of moment about point O

y MO = F1 xC1 + F2 xC2 + F3 xC3

R = 300  1.33 + 1800  5 + 600  9.33

= 15,000 N

O x
 The location of the line of action of the
total equivalent force
d
M O 15,000
c) d   5.56 m
R 2700

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IV. Examples
The examples in the lecture notes

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IV. Examples
The examples in the lecture notes

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Topic 3
Resultants, Distributed forces,
Free body diagram, Equilibrium

Free Body Diagram (FBD)

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I. Concept of free body diagram

 To show all contact and non-contact forces and moments acting on the given free
body.
 Aids us understand easier the force to give the solution

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I. The procedure for drawing the free body diagram

 Decide which body or combination of bodies is to be shown on the free-body

diagram.
 Prepare a drawing or sketch of the outline of this isolated or free body.
 Carefully trace around the boundary of the free body and identify all the forces and
moments exerted by contacting or interacting bodies that were removed during
isolation process.
 Choose the set of coordinate axes to be used in solving the problem and indicate
these directions on the free-body diagram.

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II. Modeling the action of forces – 2D

1. flexible cable, belt, chain, or rope

wcaple = 0

wcaple 0

2. Smooth surface

3. Rough surface

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II. Modeling the action of forces – 2D

4. Roller support

5. Free sliding guide

6. pin connection free turn

Not
free turn

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II. Modeling the action of forces – 2D

7. Built-in or fixed support

8. Gravitational attraction

9. Spring action

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II. Modeling the action of forces – 2D

Examples

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III. Modeling the action of forces – 3D

1. Member in contact with smooth surface or ball-supported member

2. Member in contact with rough surface

3. Roller or wheel support with lateral constraint

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III. Modeling the action of forces – 3D

4. Ball-and-socked joint

5. Fixed connection (embedded or welded)

6. Thrust-bearing support

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III. Modeling the action of forces – 3D

Example 3.5

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Try to do at home

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Notes
The external force that exert on the body can be consider into 2 class:
• Load: Before any analysis carried out

• Reaction: exerted at the support to constrain the body from

motion

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Topic 3
Resultants, distributed forces, Free body
diagram, Equilibrium

Equilibrium

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General conditions

3-D 2-D

 Vector equations
R = Fx i + Fy j = 0
R = Fx i + Fy j + Fz k = 0
C = Cz k = 0
C = Mx i + My j + Mz k = 0

 Scalar equations
Fx = 0; Fy = 0; Fz = 0 Fx = 0 Fy = 0 MA = 0
Mx = 0; My = 0; Mz = 0 MA - the sum of moment of
force about a z – axis through any
point A

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Equililbrium in 2D

y y y

R Fy Fy C
x x B x
A A A
Fx Fx
C C C
(a) (b) (c)

Fx = 0 Fx = 0 MC = 0

Fy = 0 MB = 0 MB = 0
MA = 0 MA = 0 MA = 0

B – any point not on y axis B – any point not on y axis

C – any point not on x axis 41

Equililbrium in 2D

Two force members

Ax F
A Ay F

x
y

B
By
Bx
-F -F

a) b) c) d)

wAB = 0
Fx = 0; Ax - Bx = 0; Ax = Bx

Frictionless at A and B Fy = 0; Ay – By = 0; Ay = By

AB is equilibrium, C = 0, the Ay = By = 0

For two-force members, equilibrium requires that the forces be equal, opposite, and
collinear and shape of the member has no effect. 42

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Equililbrium in 2D

 The straight two-force member in tension  The curved two-force member in tension
T
a
A
T A a B T a

a
B
a)
T
A a T a) a
T
A
a a
b)

b)
V T
M P=-T a
T A a
A P R = P+V=- T
M=0
a P V
V=0 M = Td  0
c) M R
a
d
c)
c) 43

Statically indeterminate reactions and partial constrains

The statically determinate with adequate constrain

F2 F2
F3 F3
F1 F1

A B Fn B
F4 A F4
Fn Ax
Ay By

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Statically indeterminate reactions and partial constrains

The bodies with partial constrains

y y

 Can not prevent the

rotation about A
A B x B By x
A
Ax
Ay

a)

y y Cy
 Can not prevent the
C C rotation about any point and
translation in x-direction
A B B x
x A
Fn
Ay By  The equations of
equilibrium are not sufficient
b) to determine all of the
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unknown reactions

Statically indeterminate reactions and partial constrains

Equilibrium of the bodies with partial constraints for specific system force

w
P1 P2

A a B

P=wa
P1 P2

A B

The equilibrium equations

Fx = 0
MA = 0
No prevention of x- motion

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Statically indeterminate reactions and partial constrains

Statically indeterminate reactions

F2 F2
F3 F3
F1 F1

A B Fn B
F4 A F4
Fn Ax Bx
Ay By

The equilibrium equations

Fx = 0
Fy = 0
MA = 0
But four unknows Ax , Ay, Bx , and By
Using Relations involving physical properties of the body to solve the problem
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Statically indeterminate reactions and partial constrains

Redundant supports for beams

B
A
a)

A
B C

b)

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Equilibrium forces
Example 3.7

1500lb/ft 2000lb

3ft
A pin-connected tree-bar frame is loaded
3000lb and supported as shown in the figure
3ft
Determine the reaction at supports A and B.
3ft
A B

4ft 4ft 2ft

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Equilibrium forces
Example 3.7

2000lb  Free body diagram

4500lb
 Unknows: Ax, Ay and By
y 3000lb
 The equivalent resultant R of the
7ft 6ft distributed force
Magnitude of R
Ax x
B 1
A
R  1500  6  4500 lb
2
Ay 4ft 4ft 2ft By
Perpendicular distance from A to the line of action
2
yC  3  3   7 ft
3
Free body diagram

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Equilibrium forces
Example 3.7
2000lb
4500lb

y 3000lb
7ft 6ft

Ax x
B
A
Ay 4ft 4ft 2ft By
 Equibrium equations
Fx = - Ax + 4500 + 3000 = 0
Fy = - Ay + By + 2000 = 0
MA = By (10) – 3000(6) + 2000 (8) – 4500 (7) = 0

Ax = 7500 lb ;
By = 3350 lb;
Ay = 5350  51

Equilibrium forces
Example 3.8

Wdoor = 25 Kg
the hinge at B resists any force along
the axis of hinge pins

Determine reactions at supports A,

B and D

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Equilibrium forces
Example 3.8

 Free body diagram

 External forces

W = - mg k = - 25 (9.81) k = - 245.3 k N
A = Ax j + Az k N
B = Bx i + By j + Bz k
D = 0.5647 D j + 0.8253 D k N

 Equibrium equations

R = Fx i + Fy j + Fz k = 0

C = Mx i + My j + Mz k = 0

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Equilibrium forces
Example 3.8
R = Bx i + (Ay + By + 0.5647 D) j + (Az + Bz + 0.8253 D – 245.3) k = 0
C = (rA/B  A) + (rW/B  W) + (rD/B  D) = 0

i j k i j k i j k
 1.2 0 0  0 .6 0 .5 0  1.6 0.65 0
0 Ay Az 0 0 -245.3 0 0.5647 D -0.8253D
= (-122.65 + 0.5364D) i + (-1.2Az + 147.18 – 1.3205 D) j + (1.2Ay + 0.9035 D) k = 0

Bx = 0;
Ay + By + 0.5647 D = 0; A = -172.2 j – 129.0 k N A  215 N
Az + Bz + 0.8253 D – 245.3 = 0
B = 43.0 j + 185.6 k N B  190.5 N
-122.65 + 0.5364D = 0;
D = 129.1 j + 188.7 k N D  229 N
-1.2Az + 147.18 – 1.3205 D;
1.2Ay + 0.9035 D = 0

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Equilibrium forces
Example 3.9

• Determine the
reaction at A and B

Thrust bearing

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Free body diagram

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Ex 3.10

• Determine
reaction at
A and B

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• FBD

• Reactions: RAX , RAY , RB

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2) Equilibrium equation

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EX 3.11

• Determine reaction at A, D và E
If Supporters at A, D and E is free turn pin connection

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1) FBD of ABC
At A: RAx và RAy
at B: RB  ABC

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• Equilibrium equation for ABC

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2) FBD of DBE

Góc 

Length of DE

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EX 3.12
• Determine reactions at A and B

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1) FBD

• The external forces are expressed on FBD

• Resultants of distributed force:

Distance from Application point to A: 0.6m

• Reaction: RA and RB
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• Equilibrium equations

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Ex 3.13

• Determine reactions at A

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Ví dụ 3.14

• Determine reactions at A and the tension of

cable BC and BE, support at A is Ball-and-
socked joint
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• 1) FBD
• 2) External force vector
Tension of BC and BE

Force at D

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3) Equilibrium equations

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