Static and dynamic

CTN-258

Lesson 2
Force systems, moments and
moment équivalents
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Department of Construction Engineering
1.5 Steps for solving an engineering problem
First step: Understanding the problem
Data, unknowns, special conditions
Second step: Evaluation of resolution methods
Physical laws and mathematical equations applicable to the problem.
Hypotheses, approximation, and validation of the approach used
Third step: Tracing a DCL
Forces, reactions, and distances
Fourth step: Problem solving
Application of laws and resolution of equations
Fifth step: Evaluation of the results obtained
Evaluation and interpretation of the results obtained using judgment
critique (realistic order of magnitude, plausible result)
Chapter 2 part 2
Forces and vectors
2.9 The equilibrium of a particle
2.10 Moment of a force around a point
2.11 Varignon's Theorem
2.12 Torque
2.13 Equivalence of couples
2.14 Forces in space (3D)
2.15 Addition of concurrent forces in space
2.16 Equilibrium of a particle in space
2.17 Scalar product
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2.18 Free Body Diagram (FBD)
2.9 The equilibrium of a particle
When the resultant of all the forces acting
on a particle is zero, the particle is in
balance.
Balance
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2.10 Moment of a force around a point
The moment of a force F with respect to a point O,
designatedOis equal to the product of the intensity of F by the
distance perpendicular separating point O from the line
of the action (or support) of the force F.
d
d : distanceperpendicularAt the action line of F, it is called the lever of F with respect to the
point O.
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2.10 Moment of a force around a point
It is the distance vector separating point O and a
any point on the support of F can be established:
r
Whereθ design the internal angle
between the extension of its route
and the line of action of F.
So:
θ
d
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2.10 b) Cross product
The vector product of two vectors U and V is a vector M
satisfying the following properties:
It is referred to as: M = U x V
Its line of action is perpendicular to the plane containing U and V; M┴(U ,V)
Its sense is given by the right hand rule;
Its intensity is given by: M = UV sinϴ
θ: angle between U and V
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2.10 b) Vector product
The vector product can be calculated by hand as follows:
Vector: [ux, uyuz]
Vectorv: [vx, vy, vz]
U

Vecteuruxv:
=
=
=
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2.10 b) Vector product
The properties of the vector product are as follows:
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2.10 Moment of a force around a point
It is therefore possible to draw a parallel between a
moment (force x lever) and a vector product. Let's see
the formulas from slides 5 and 6.
r
According to force and lever:
θ
d
According to vector product:
M = UVsinθ
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2.10 Moment of a force around a point
PHYSICAL SIGNIFICATION
The intensity of the moment MThemeasure the trend of the force F to
produce a rotational acceleration around point O, more
precisely around Mr.'s supportO, normal in the plan containing the
supports of vectors r and F, if the body is fixed at O. The moment
s’exprime par le produit d’une force (kN) par une longueur (m).
Mo =F·d
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2.10 Moment of a force around a point
MACHINE EQUIVALENCE OF 2 FORCES
The forces F and F' are equivalent.
Since they have the same intensity,
The same direction and the same meaning
While producing the same moment
In relation to point O.
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2.10 Moment of a force around a point
SIGN CONVENTION
The moment will be positive if its effect produces a rotation in the
counterclockwise (right-hand rule) and negative if it produces
a clockwise rotation.
Positive moments
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Calculation of the moment according to the vector product
STEPS OF CALCULATION
Define the radius vector ()
Define the force vector ( )
• Perform the cross product (
A (xA,yA)
r
F
)
Origin O (0,0)
Apply the Pythagorean theorem for the magnitude of
moment in 3 dimensions
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2.11 Varignon's Theorem
Varignon's Theorem
A resultant force R is decomposed into two forces F1etF2.
The moment of the resultant force R with respect to a point is equal to
la somme des moments de forcesF1etF2par rapport à ce même
point.

MR/A =M F1 /A+ M F2/A

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2.11 Varignon's Theorem
VARIGNON'S THEOREM
A resultant force R decomposes into several forces F.1etF2…
F2
R
=
F1
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Example 1
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Answer: See solution in class
2.12 Torque
A moment of couple is a moment produced by two forces.
parallel forces of the same intensity and opposite directions. These forces exert
a pure rotation around an axis normal to their common plane. As
at the moment, the intensity of the torque moment M (or couple M) is equal
to the product of the intensity of force F by the distance d between the two
forces.
4 kN
(5,5)
d
rB
rA(2,3)
Or
4 kN
M=F·d
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2.13 Equivalence of pairs
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2.14 Forces in space (3D)
Rectangular components of a force in space.
Let a force F be applied at point O.
• According to the OABC plan containing F(angle θy):
OB = Fcos(θy)
Fy=
Fh =
θy

OC = Fsin(θy)
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2.14 Forces in space (3D)
Rectangular components of a force in space.
According to the OECD plan containingFh(angleφ):
OD = Fhcos(φ)
Fx=
Fz=

OE = Fhsin (φ)
so:
φ
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2.14 Forces in space (3D)
One can better visualize the rectangular components of F to
the help of a box. We then use the angles θx,θy, etθz.
The rectangular components
scalars are given by:
The cosine of θx,θy, etθz
are called direction cosines
as if by magic, they have the same
value that the unit vector!!!
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2.14 Forces in space (3D)
We can better visualize the rectangular components of F at
the help of a box. We then use the angles θx,θy, etθz.
The use of unit vectors i, j, and k,
allows the following vector notation:
By substituting according to the equation of the
the previous page, we obtain:
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2.14 Forces in Space (3D)
We can find the vectorλwhich is the unit vector (magnitude = 1)
according to the action line of F. Its components are the cosines
action line directors of F.
•λx= cos(θx)i

•λy= cos(θy)j

•λz= cos(θz)k
Since the sum of its components
squared is equal to the intensity
of a vector, one can write:
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Exemple 2
For the following triangular surface, determine a unit vector.
which defines the orientation of the normal to this surface.
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2.14 Forces in space (3D)
Definition of a force by its intensity and two points on its line of action.
• Let's consider a force F whose line of action is defined by two
points, M(x1; y1; z1) and N(x2; y2; z2The vector MN connects the points M and
N has the same meaning as F.
F
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2.14 Forces in space (3D)
Definition of a force by its intensity and two points on its line of action.
F
Since MN and F are on the same line
d’action ils ont alors le même vecteur
unitλ (same directional cosines)
defined by:
The vector F is then defined by its intensity F multiplied by the
unit vector λ
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2.14 Forces in space (3D)
Definition of a force by its intensity and two points on its line of action
The scalar components of F are then:
F
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2.15 Addition of concurrent forces in space
The addition of several forces in space is done by the
sum of the components "x", "y" and "z" of all
the forces at play.
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2.16 Equilibrium of a particle in space
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2.17 Scalar product
When you want to know the component of a force on another axis
that the reference axes x, y, and z, we can use the scalar product.
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2.17 Scalar product
When one wants to know the component of a force along another axis
that the reference axes x, y, and z, we can use the scalar product.
The scalar product of two vectors is equal to the product of their magnitudes.
of the two vectors by the cosine of the angle between the two. The product
scalar is written as follows:
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2.17 Dot product
The dot product between 2 vectors U and V is equal to the projection of
vector U in the direction of vector V.
P • Q = (Pxi+Pyj+Pzk)• (Qxi+Qyj+Qzk)
=(Px) (Qx) +(Py)(Qy) +(Pz)(Qz)
And the angle between the two vectors is given by:
If the angle θ is known, the dot product is equal to:
P • Q = (P) (Q) cosθ
2.17 Scalar product
The scalar product is commutative and distributive as shown in
following equations:
The dot product of two perpendicular vectors is always zero;
The angle between two vectors that results in a maximum scalar product
is 0°. It is when the vectors are parallel that the product
scalar is maximal;
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Example 3
The force vector below has an intensity of 100 kN. It passes
by the origin and point A whose coordinates are (3,4,5).
What is the value of the projection of the vector onto a line?
passing through the origin and point B whose coordinates are
(6,6,2) ? What is the angle between the force and the line OB?
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For next week
Additional exercises for you
will be presented in the lab
You can do the first set.
exercises that can be found in the
practical work section on the site
of the course
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