10/25/2021

MECH 1: Statics of
Rigid Bodies
Lecture 4
Forces in Space, Equilibrium of Particles in 3D, Free-body Diagrams

Forces in Space

• In real engineering
practice, forces act
in 3D space.

• The tire is carried by

three chains
supported at above
point A.

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Application
• In the case of this radio tower, if you know the
forces in the three cables, how would you
determine the resultant force acting at D, the top of
the tower?

Cartesian Unit Vectors

• For a vector F, with a magnitude

|F|, a unit vector is defined as
• Characteristics of a unit vector
• Its magnitude is 1
• It is dimensionless (has no units)
• It points to the direction the same
with the original vector F
• The unit vectors in the Cartesian
axis system are ijk. They are unit
vectors along the positive x, y and
z axes, respectively.

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A force in 3-dimensional space can be represented with

the angles φ and θ that it makes with the x-axis and the
vertical axis respectively.

Seatwork
1. Resolve F into horizontal and vertical components. Then
after resolving F into components resolve Fh into
rectangular components.

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Seatwork
1. Resolve F into horizontal and vertical components. Then
after resolving F into components resolve Fh into
rectangular components.

Seatwork

2. Consider the force shown, kindly solve for Fx, Fy and Fz:

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Seatwork

2. Consider the force shown, kindly solve for Fx, Fy and Fz:

Direction Cosines

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Seatwork
3. For the example shown above in figure 1, kindly solve for
the angles.

Seatwork
3. For the example shown above in figure 1, kindly solve for
the angles.

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General 3-dimensional Unit Vector

A general 3-D unit vector can be used to represent the
line of action of a 3-D force.

Seatwork

4. For the example shown above in figure 1, use unit vector.

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Seatwork

4. For the example shown above in figure 1, use unit vector.

Addition of forces (vectors) in 3-D space

Simply add the x, y and z components.

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Equilibrium of Particles in 3D Space

Equilibrium of Particles in 3D Space

(Example)
1. Tension in wire = 2500N
Find: Fx, Fy, Fz at A and θx,θy, θz

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Equilibrium of Particles in 3D Space

(Example)
1. Tension in wire = 2500N
Find: Fx, Fy, Fz at A and θx,θy, θz
Fx = -1060N
Fy = 2120N
Fz = 795N

θx = 115.1°
θy = 32°
θz = 71.5°

Summary (Three-Dimensional Force Systems)

1. The necessary and sufficient condition for particle
equilibrium is ∑F = 0.
2. Resolve the forces into their respective i , j , k
components, so that ∑Fxi + ∑Fy j + ∑Fzk = 0 . To satisfy
this equation we require;

3. These three equations state that the algebraic sum

of the components of all the forces acting on the
particle along each of the coordinate axes must be
zero. Using them we can solve for at most three
unknowns, generally represented as coordinate
direction angles or magnitudes of forces shown on
the particle’s free-body diagram.

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Summary (Three-Dimensional Force Systems)

Example #1
(Equilibrium of Three-Dimensional Force Systems)
1. A 90-lb load is suspended from the hook shown. If the load is supported
by two cables and a spring having a stiffness k = 500 lb/ft, determine the
force in the cables and the stretch of the spring for equilibrium. Cable AD
lies in the x–y plane and cable AC lies in the x–z plane.
Hint: The stretch of the spring can
be determined once the force in the
spring is determined.

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Example #2
(Equilibrium of Three-Dimensional Force Systems)
1. Determine the force in each cable used to support the 40-lb crate
shown.

Seatwork #1
(Equilibrium of Three-Dimensional Force Systems)
1. Determine the tension in each cord used to support the 100-kg crate
shown.

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Seatwork #2
(Equilibrium of Three-Dimensional Force Systems)
2. Determine the height d of cable AB so that the force in cables AD and AC
is one-half as great as the force in cable AB . What is the force in each cable
for this case? The flower pot has a mass of 50 kg.

Seatwork #3
(Equilibrium of Three-Dimensional Force Systems)
3. Determine the height d of cable AB so that the force in cables AD and AC
is one-half as great as the force in cable AB . What is the force in each cable
for this case? The flower pot has a mass of 50 kg.
Answers:
FAB = 520 N
FAC = 260 N
FAD = 260 N
d = 3.61 m

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Seatwork #4
(Equilibrium of Three-Dimensional Force Systems)
4. The 150-lb crate is supported by cables AB , AC , and AD . Determine the
tension in these wires.

Seatwork #5
(Equilibrium of Three-Dimensional Force Systems)
5. If cable AB is subjected to a tension of 700 N, determine the tension in
cables AC and AD and the magnitude of the vertical force F .

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Seatwork #6
(Equilibrium of Three-Dimensional Force Systems)
6. Determine the stretch in each of the two springs required to hold the 20-
kg crate in the equilibrium position shown. Each spring has an unstretched
length of 2 m and a stiffness of k = 300 N/m.

Rectangular Components of Force in 3D Space

•The rectangular components of a force can

be determined easily depending on the given
characteristics of the force:
Case 1: Given the Magnitude of the force and Two
Angles
Case 2: Given the Magnitude of the force and
three Absolute Angles
Case 3: Given the Magnitude and Two points
where Force Passes

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Case 1: Given the Magnitude of the force and

Two Angles

Case 1: Given the Magnitude of the force and

Two Angles

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Case 1: Given the Magnitude of the force and

Two Angles

Example

• Target: Resultant (in vector

form) of F1 and F2
• Given: Magnitude of F1 and
F2 and
• Solution Strategy:
• Find the Cartesian vector
form of F1 and F2 using
geometry and trigonometry
• Add the two forces (x, y and z
components)

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Example

• Solution
• Resolve force F1
Fx = 0 = 0 lb
Fy = 500 (4/5) = 400 lb
Fz = 500 (3/5) = 300 lb

• Now, write F1 in Cartesian vector

form
F1 = {0i + 400j + 300k} lb

Example

• Solution
• Resolve force F2
F2z = -800 sin45 = -565.7 lb
F2xy = 800 cos45 = 565.7 lb
• Resolve force F2
F2x = 565.7 cos30 = 489.9 lb
F2y = 565.7 sin30 = 282.8 lb
• Now, write F1 in Cartesian
vector form
F2 = {489.9i + 282.8j – 565.7k} lb

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Example

•So FR = F1 + F2
F1 = {0i + 400j + 300k} lb
F2 = {489.9i + 282.8j – 565.7k} lb
FR = {490i + 683j – 266k} lb

Case 2: Given the Magnitude of the force and

three Absolute Angles

NOTE: The angle a force F forms with an axis should be

measured from the positive side of the axis and will always
be between 0 and 1800.

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Case 2: Given the Magnitude of the force and

three Absolute Angles

Case 2: Given the Magnitude of the force and

three Absolute Angles

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Example

Example

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Case 3: Given the Magnitude and Two points

where Force Passes

Case 3: Given the Magnitude and Two points

where Force Passes

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Example

Determine the components and vector representation of F.

Example

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Example

Example 4
• A frame ABC is
supported in part by
cable DBE that passes
through a frictionless
ring at B. Knowing that
the tension in the cable
is 385 N, determine the
components of the
force exerted by the
cable on the support at
D.

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Resultant of Concurrent Forces in 3D Space

Resultant of Concurrent Forces in 3D Space

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Particle in Equilibrium in 3D Space

Example

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Solution

Solution

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Solution

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