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Chapter 4
Force System Resultants
Moment of a force – scalar formulation
The magnitude of MO is
M O = Fd
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Sense of rotation
Sense of rotation
The direction of MO is determined using the “right-hand
rule”
Resultant Moment of a system of coplanar forces
+ M RO = ∑ Fd
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Cross Product
The cross product of two vectors A and B yields the
vector C, written
C = A×B
The magnitude of C is,
C = AB sin θ (0 o
≤ θ ≤ 180o )
The direction of C is,
C = A × B = ( AB sin θ ) u C
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Laws of Operation
AXB≠BXA
Rather,
AXB=-BXA
B X A = -C
Multiplication by a Scalar
a( A X B ) = (aA) X B = A X (aB) = ( A X B )a
Distributive Law
AX(B+D)=(AXB)+(AXD)
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(i)( j )(sin 90o ) = (1)(1)(1) = 1
i x j = k i x k = -j ixi=0
j x k = i j x i = -k jxj=0
k x i = j k x j = -i kxk=0
Laws of Operations
• Consider cross product of vector A and B
A X B = (Axi + Ayj + Azk) X (Bxi + Byj + Bzk)
= AxBx (i X i) + AxBy (i X j) + AxBz (i X k)
+ AyBx (j X i) + AyBy (j X j) + AyBz (j X k)
+ AzBx (k X i) +AzBy (k X j) +AzBz (k X k)
= (AyBz – AzBy)i – (AxBz - AzBx)j + (AxBy – AyBx)k
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Therefore,
i j k
A × B = Ax Ay Az
Bx By Bz
Moment of a force-vector formulation
The moment of a force F about point O (the moment axis
passing through O and perpendicular to the plane
containing O and F)
MO = r × F
r is a vector drawn from O to any point lying on the line of action of F
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Magnitude MO = rF sin θ
θ : angle between r and F
M O = rF sin θ = F (r sin θ ) = Fd
Direction The right-hand rule
The moment created by F about O is MO = rA×F
Consequently,
M O = rB × F = rC × F
This is called the principle of transmissibility
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Cartesian vector formulation
i j k
M O = r × F = rx ry rz
Fx Fy Fz
Resultant moment of a system of forces
M RO = Σ(r × F )
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Principle of moments
Varignon’s Theorem
The moment of a force about a point is equal to the sum
of the moments of the force’s components about the point
M O = r × F1 + r × F2 = r × (F1 + F2 ) = r × F
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Moment of a force about a specified axis
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1) Scalar analysis
M O = (20N)(0.5m) = 10N ⋅ m
M y = M O cos θ = (10N ⋅ m) = 6N ⋅ m
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or,directly M y = 0.3(20N ⋅ m) = 6N ⋅ m
In general,
If the line of action of a force F is perpendicular to any
specified axis aa, the magnitude of the moment of F
about the axis is
M a = Fd a
d a is the perpendicular or the shortest distance from the force line of
action to the axis
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( M z ) max = Fd M z = Fd'
Dot product ??
A ⋅ B = AB cos θ
i⋅i =1 j⋅ j = 1 k ⋅k = 1
i⋅j = 0 i ⋅k = 0 k ⋅ j = 0
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Applications of dot product ??
1) The angle between two vectors or intersecting lines
A ⋅ B = AB cos θ
A⋅B
θ = cos −1 0o ≤ θ ≤ 180o
AB
2) The components of a vector parallel and perpendicular to
a line
A ⋅ u = Au cos θ = A(1) cos θ
A = A cos θ = A ⋅ u
Therefore,
A = A cos θ u = ( A ⋅ u)u
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2) Vector analysis
M O = rA × F = (0.3i + 0.4 j) × (−20k ) = {−8i + 6 j} N ⋅ m
M y = M O ⋅ u a = (−8i + 6 j) ⋅ j = 6N ⋅ m
MO = r × F
M a = M O cos θ = M O ⋅ u a
M a = (r × F) ⋅ u a or
∴ M a = u a ⋅ (r × F)
The triple scalar product
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M a = u a ⋅ (r × F)
i j k
M a = (uax i + uay j + uaz k ) ⋅ rx ry rz
Fx Fy Fz
ua x ua y ua z
M a = u a ⋅ (r × F ) = rx ry rz
Fx Fy Fz
Express Ma as Cartesian vector,
M a = M a u a = [u a ⋅ (r × F)]u a
For a series of forces,
M a = ∑[u a ⋅ (r × F)]u a = u a ⋅ ∑ (r × F )
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M a = u a ⋅ (r × F )
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