Force System Example Problems Moment of Force about a Given Axis Couple Example Problems

Force Systems
(Mechanics – CE11001)

Dr. Puneet Kumar Patra

Department of Civil Engineering

Indian Institute of Technology Kharagpur
[email protected]

August 1, 2024
Force System Example Problems Moment of Force about a Given Axis Couple Example Problems

Outline
1 Force System
Introduction
Principle of Transmissibility
Moment of a force
Varignon’s Theorem
Rectangular Components of Moment
2 Example Problems
Example 1
Example 2
3 Moment of Force about a Given Axis
Basics
Examples
4 Couple
Moment of a Couple
Equivalent Couples
Addition of couples
Force-Couple System
5 Example Problems
Example 1
Example 3
Reduction to a Wrench
Reduction of a simple distributed loading
Force System Example Problems Moment of Force about a Given Axis Couple Example Problems

Force Systems for Rigid

Bodies
Force System Example Problems Moment of Force about a Given Axis Couple Example Problems

Introduction

What we have done so far?

How a force acts on a particle or at a point
Resolved all concurrent forces to a resultant force
Resultant produces the same effect as the sum of the individual forces
Worked in 2-dimensions and 3-dimensions
Assumed that rigid bodies, in certain cases, can be treated as a single
particle → Very simplistic assumptions, not applicable always
Better approach is treat them as a collection of particles
Consider the effect of geometry of the body

Now we will learn:

How to analyze a rigid body system given a system of forces act on it
Moment at a point, about an axis, and couple (different from colloquially
used term “couple”)
Convert a set of forces into an equivalent set of load (force + couple)
Force System Example Problems Moment of Force about a Given Axis Couple Example Problems

Principle of Transmissibility I

One can replace a force F~ acting at a given point of a rigid body with another
force F~0 of same magnitude and direction, but acting at a different point, iff the
two forces have the same line of action.
These two forces F~ and F~0 are said to be equivalent

Figure: On the left side a truck is pulled by a force F from its front. On the right side,
the same truck is pushed by an equivalent force F0 .

The weight W ~ causes two reactions, R ~ 1 and R

~ 2 at the tyres.
~
A horizontal force F pulls the truck. The line of action passes through the
front and the rear bumpers
F~ replaced by an equivalent force F~0 acting at the same horizontal level but
now the truck gets pushed and not pulled

Treated force as a sliding vector. But be careful!

Force System Example Problems Moment of Force about a Given Axis Couple Example Problems

Principle of Transmissibility II
The principle only applicable to rigid bodies.
For deformable systems, the principle of transmissibility has limitations as
internal deformations are not generally commensurate with expected
situations.

Figure: A deformable bar under (a) tensile and (b) compressive loading. Principle of
transmissibility does not yield correct deformations

Applying principle of transmissibility to (a) results in (b), where a particle is

under the influence of both P~ 1 and P
~2
~ ~
If P1 = −P2 , then the net force on the particle is zero
So no observable response of the system
In reality, because bar deforms, the bar’s length will: increase in (a)
and decrease in (d)
Force System Example Problems Moment of Force about a Given Axis Couple Example Problems

Moment of a force about a point I

Figure: A wrench on which a force is applied at the edge.

What is the response of the wrench?

A wrench on which a force F~ is applied at the edge.
Assume coordinate axes such that: wrench lies along x axis, and the
direction of F~ along the y axis, and O − O 0 the z direction.
The point of intersection of O − O 0 with wrench is A and the force is applied
at B.
Force System Example Problems Moment of Force about a Given Axis Couple Example Problems

Moment of a force about a point II

The wrench has a tendency to rotate about the axis of the pipe O − O
The tendency to rotate created due to the application of F~
Moment is the tendency of a force to rotate the body to which it is applied
~ is a vector, and can be obtained as:
Moment, M

~
M = r × F~ ,
~
(1)
= r ||||F~ || sin(θ)
||~

Here, ~
r is the relative position vector of the point of application of force with
respect to the point where moment is being calculated, and θ represents the
angle between ~ r and F~
For our case, we can compute moment as:

~
M = r × F~ ,
~
= (d iˆ + 0jˆ + 0k̂) × ||F~ ||(0iˆ + 1jˆ + 0k̂) (2)
= d||F~ ||k̂

~ is dF and it is oriented along the positive z axis.

The magnitude of M
Force System Example Problems Moment of Force about a Given Axis Couple Example Problems

Varignon’s Theorem I

Compute the net moment

~ i due to a force F~i is: M
The moment, M ~i = ~
r × F~i .
4
~ = PM
The net moment is, M ~i = ~
r × F~1 + ~
r × F~2 + ~
r × F~3 + ~
r × F~4 :
i=1

 
~
=⇒ M = r × F~1 + F~2 + F~3 + F~4
~
  (3)
~
=⇒ M = r× R
~ ~
Force System Example Problems Moment of Force about a Given Axis Couple Example Problems

Varignon’s Theorem II

Used the distributive property of vector addition

~ denotes the resultant of the four force vectors
R
Varignon’s theorem states that moment about a given point O of the
resultant of several concurrent forces is equal to the sum of the moments of
the various forces about the same point O
If several concurrent forces are given, first find the resultant of these
concurrent forces and then take its cross product with the position vector to
obtain the moment.
Force System Example Problems Moment of Force about a Given Axis Couple Example Problems

Rectangular Components of Moment I

Find the three components of the moment of force applied at A with respect to
another point B, B not the origin.
Find the position vector of the point of application of the force, i.e. A
(xA , yA , zA ), with respect to B (xB , yB , zB )
The position vector, ~
rA|B , of B with respect to A is:

~
rA|B = rA − ~
~ rB ,   
~
rA|B = xA iˆ + yA jˆ + zA k̂ − xB iˆ + yB jˆ + zB k̂ ,
(4)
~
rA|B = (xA − xB ) iˆ + (yA − yB ) jˆ + (zA − zB ) k̂,
~
rA|B = xA|B iˆ + yA|B jˆ + zA|B k̂
Force System Example Problems Moment of Force about a Given Axis Couple Example Problems

Rectangular Components of Moment II

Now compute the moment

If the force vector can be written as: F~ = Fx iˆ + Fy jˆ + Fz k̂, then the moment
vector, M~ becomes:

~
M = rA|B × F~
~
(5)
= (yA|B Fz − zA|B Fy )iˆ + (zA|B Fx − xA|B Fz )jˆ + (xA|B Fy − yA|B Fx )k̂
Force System Example Problems Moment of Force about a Given Axis Couple Example Problems

Example Problems
Force System Example Problems Moment of Force about a Given Axis Couple Example Problems

Example 1

Calculate the magnitude of the moment about O of the force.

The problem may be solved in many different ways:
1 The moment arm of the force is:
d = 4cos40◦ + 2 sin 40◦ = 4.35 m. So,
M = dF = 2610Nm.
2 Split the force into its horizontal and vertical
components, and use Varignon’s theorem:
F1 = 600 cos 40◦ = 460 N and
F2 = 600 sin 40◦ = 386 N. By Varignon’s theorem,
M = 460 × 4 + 386 × 2 = 2610 Nm.
3 Use principle of transmissibility, and move the force
along the line of action to point B. It eliminates
the moment component due to the vertical force.
The moment arm of the horizontal component
becomes: d1 = 4 + 2 tan 40◦ = 5.68 m. So, moment
is: 460 × 5.68 = 2610 Nm.
4 Use principle of transmissibility to move the force
to C .
5 Use ~r × F~ = (2iˆ + 4j)
ˆ × 600(cos 40◦ iˆ − sin 40◦ j).
ˆ
Force System Example Problems Moment of Force about a Given Axis Couple Example Problems

Example 2 I

Figure: Find the moment about B.

1 Varignon’s Theorem Approach:Decompose the force into its vertical

and horizontal components, and then multiply appropriately by their
moment arm:
Fx = 800 cos(60) = 400
Fy = 800 sin(60) = 692.82

The lengths of the moment arm corresponding to Fx and Fy are respectively:

0.16 m and 0.20 m. Notice that the action of both Fx and Fy is to turn the
bracket clockwise. Hence, both the moments are additive. The net moment
is therefore:
M = 0.16Fx + 0.2Fy = 202.56Nm
Force System Example Problems Moment of Force about a Given Axis Couple Example Problems

Example 2 II
2 Principle of transmissibility Approach: Transfer the force along the
line of action at the location where the force intersects with the horizontal
part of the bracket. The distance from B is given by:

d = 0.2 + 0.16 cot(60) = 0.292

Decomposing the transferred force into its horizontal and vertical

components, we see that Fx and Fy remain the same: Fx = 400, Fy = 692.82.
However, now the moment arm for Fx equals zero. Therefore the total
moment is:
M = d × Fy = 202.56Nm
3 Vector Approach: In order to compute the moment, we need to obtain
rA|B and F~ in vector format. Assume that B represents the origin.
~
Therefore, the two vectorial quantities are:

~
rA|B = −0.2iˆ + 0.16jˆ
F~ = 400iˆ + 692.82jˆ

The moment therefore is:

~
M = rA|B × F~
~
= −202.56k̂
Force System Example Problems Moment of Force about a Given Axis Couple Example Problems

Moment of Force about a

Given Axis
Force System Example Problems Moment of Force about a Given Axis Couple Example Problems

Moment of Force about a Given Axis I

Figure: The moment about an arbitrary axis.

Find the moment of the force F~ about not any point but the axis BL.
~ is associated with a direction vector ~λ
BL
Recollect that the moment M ~ due to F~ is a vector
The magnitude M ~ along ~λ is the projection of M
~ on ~λ.
Force System Example Problems Moment of Force about a Given Axis Couple Example Problems

Moment of Force about a Given Axis II

The moment of F~ about the point B is given by:

~
M = rA|B × F~
~ (6)

~ is given by:
The magnitude of the component of moment along BL

MBL = ~λ.M
~

~λ. ~
 (7)
= rA|B × F~

The last equation is known as the scalar triple product of three vectors.
M~ is perpendicular to both ~
rA|B and F~ . So, if ~λ lies in the plane of either
rA|B or F~ , the component will be zero
~

Note that the moment of force about an axis is independent of the

choice of point B.
Force System Example Problems Moment of Force about a Given Axis Couple Example Problems

Moment of Force about a Given Axis III

This can be proved as follows. Consider we are now interested in finding the
~ Then,
component along CL.
  h i
MCL = ~λ.M
~ = ~λ. ~rA|C × F~ = ~λ. (~ rA − ~rC ) × F~
h i h i
= ~λ. (~ rB ) × F~ + ~λ. (~
rA − ~ rB − ~rC ) × F~ (8)
h i  
= ~λ. (~
rA − ~ ~ ~
rB ) × F = λ. ~ rA|B × F~

We can write this equation because ~λ is in the direction of CB.

~ Therefore its
scalar triple product is zero,
Force System Example Problems Moment of Force about a Given Axis Couple Example Problems

Example 1 I

~ Determine the moment of P

A cube of side a is acted upon by a force P. ~ (a) about
A, (b) about the edge AB, (c) about the diagonal AG . Using part (c), determine
the perpendicular distance between AG and FC .

~ knowing that it makes an angle

The coordinate system is chosen at O. Write P
π/4 with the y and z axes, and π/2 with x axis. Therefore, we can write
 
~ 1 1
P = P 0iˆ + √ jˆ − √ k̂
2 2
Force System Example Problems Moment of Force about a Given Axis Couple Example Problems

Example 1 II

1 (a) Let us write ~

rF |A in vectorial form:

~
rF |A = rF − ~
~ rA = aiˆ + ak̂ − (ajˆ + ak̂)
= aiˆ − ajˆ

So, the moment about A is given by:

 
~ = aiˆ − ajˆ × P √1 jˆ − √1 k̂
 
~A
M = rF |A × P
~
  2 2
1 1 1
= Pa √ k̂ + √ jˆ + √ iˆ
2 2 2
Pa 
= √ iˆ + jˆ + k̂
2
Force System Example Problems Moment of Force about a Given Axis Couple Example Problems

Example 1 III

2 (b) To compute moment about AB, we need to find the direction vector ~λ
~ It is easy to see that since AB
corresponding to AB. ~ is oriented along +x
axis, ~λ = i.
ˆ Therefore, the moment MAB is given by:

MAB = ~λ.M~A
Pa 
ˆ √ iˆ + jˆ + k̂

= i.
2
Pa
= √
2
Force System Example Problems Moment of Force about a Given Axis Couple Example Problems

Example 1 IV

3 (c) To compute the moment about AG , let us write ~λ for this:

~
~ = aiˆ − ajˆ − ak̂. Therefore, ~λ = AG = √1 iˆ − jˆ − k̂ . Therefore, the
 
AG
~
|AG | 3
moment MAG equals:

MAG = ~λ.M
~A
1 ˆ ˆ  Pa  
= √ i − j − k̂ . √ iˆ + jˆ + k̂
3 2
Pa
= −√
6
Force System Example Problems Moment of Force about a Given Axis Couple Example Problems

Example 1 V

4 (d) The magnitude of the moment about AG ~ can also be found by

multiplying the moment arm of P~ with respect to AG
~ . Moment arm is
nothing but the perpendicular distance, d. Therefore,

MAG = dP
Pa
=⇒ √ = dP
6
a
=⇒ d = √
6
Force System Example Problems Moment of Force about a Given Axis Couple Example Problems

Couple
Force System Example Problems Moment of Force about a Given Axis Couple Example Problems

Couple I
The moment produced by two equal, opposite and non-collinear forces is
called a couple.
The forces are equal and opposite, the net sum of forces on the rigid body is
zero
There cannot be any translation
The only effect observable under this scenario is rigid body rotation or a
tendency of rotate
Interested in computing the moment M ~ about O due to the two forces
applied at A and B

Figure: Moment of a couple.

Force System Example Problems Moment of Force about a Given Axis Couple Example Problems

Couple II

The moment can be computed as:

 
~
M = rA × F~ + ~
~ rB × −F~ = (~ rB ) × F~
rA − ~
= ~
rA|B × F = ~
~ r ×F~ (9)
~
=⇒ |M| = rF sin(θ) = dF ,

rA|B makes with F~

θ is the angle that ~
d is the perpendicular distance between the line of action of F~ and −F
~
The moment computed is independent of the location at which the moment
is computed
If we compute the moment at any other point (apart from O), the
expression of couple will not change.
Occurs since ~
rA|B is independent of the choice of origin O.
Force System Example Problems Moment of Force about a Given Axis Couple Example Problems

Equivalent Couples

The moment due to forces (F~1 , −F~1 ) and (F~2 , −F~2 ) are equal if:
The following holds:
F1 d 1 = F2 d2 , (10)
The two couples lie in parallel planes and have the same sense (orientation)

Figure: Example of equivalent couples. Although the force and perpendicular distance varies
for the three cases, the couple arising due to them is the same and equals 120 lb-in, and is
oriented along y axis.
Force System Example Problems Moment of Force about a Given Axis Couple Example Problems

Addition of couples I
Sum of two couples is a couple that equals the vector sum of the individual two
couples.

Figure: Two concurrent forces: F~1 and F

~2 act at A. Equal and opposite forces act at B. M
~1 &
~ 2 are the two couples due to F
M ~1 and F
~2 . M
~1 + M
~2 = M
~ – another couple

~ ~1 + M~ r× F~1 + ~
r × F~2
M = M  2 =~
~
M = ~ ~ ~
r × F1 + F2 : By Varignon’s Theorem (11)
~
M = ~ R
r × R;
~ ~ = F~1 + F~2
Force System Example Problems Moment of Force about a Given Axis Couple Example Problems

Resolving forces into a force-couple system I

A force F~ acts on a rigid body at A whose position is given by ~

r . We want to move
the force to the point O.

Principle of transmissibility – the force can be moved along its line on action
But O does not lie on the line of action of F~ , so direct movement not allowed
Have to consider other effects on the rigid body

The operations involved in moving the force to O are:

1 Add a force equal and opposite to F ~ at O.
2 In order to maintain equlibrium and cancel the effect of −F~ applied at O,
add another force equal and having same direction as F~ at O. Thus, three
forces now act on the rigid body.
Force System Example Problems Moment of Force about a Given Axis Couple Example Problems

Resolving forces into a force-couple system II

3 The forces F~ at A and −F~ at O form a couple with a magnitude MO , and

since they are equal and opposite, they do not show any additional effects on
the rigid body.
4 The extra remaining force is F~ at O.

So transfer a force at a point to another point, we replace it by a

moment at the new point (arising due to the couple) and the original
force now applied at the new point.
Force System Example Problems Moment of Force about a Given Axis Couple Example Problems

Example 1
Determine the resultant of the four forces and one couple.
Select point O as the origin of the coordinate system:
Fx =⇒ Rx = 40 + 80 cos 30◦ =
P
1 Rx =
◦
60 cos 45 = 66.9N.
Fy =⇒ Ry = 50 + 80 sin 30◦ + 60 cos 45◦ =
P
2 Ry =
132.4N
√
3 R = 66.92 + 132.42 = 148.3N.
 
132.4
4 θ = tan−1 = 63.2◦
66.9
5 MO = 140 − 50 × 5 + 60 cos 45◦ × 4 − 60 sin 45◦ × 7 =
−237Nm
6 The force-couple system consisting of R ~ and MO is
shown in (a)
7 We now compute R ~0 such that it only acts:
R 0 d = MO =⇒ d = 1.6m.
8 The resultant R ~ 0 can be applied at any point on the
line which makes 63.2◦ with x axis and is tangent
at point A to a circle of 1.6 m radius with center O
(see (b)).
9 Further simplification is possible as seen in (c).
Force System Example Problems Moment of Force about a Given Axis Couple Example Problems

Example 3 I

Reduce the system of forces to (a) an equivalent force-couple system at

A, (b) an equivalent force couple system at B and, (c) a single force or
resultant. Assume x axis along (AB) and y axis perpendicular to AB in
the upward direction.

Figure: For sample problem 7

Force System Example Problems Moment of Force about a Given Axis Couple Example Problems

Example 3 II
1 ~ and moment about A, M
(a) The resultant force, R ~ A , are:

~
R = 150jˆ − 600jˆ + 100jˆ − 250jˆ
~
=⇒ R = −600jˆ
~A
M = 1.6iˆ × (−600j)
ˆ + 2.8iˆ × 100jˆ + 4.8iˆ × (−250j)
ˆ
~A
=⇒ M = −1880k̂

~ = −600jˆ and
So, the equivalent force-couple system at A is: R
~ A = −1880k̂.
M
2 (b) One can repeat the same analysis at B to find the value of R~ = −600jˆ
~ ˆ ˆ
and MB = 1000k̂. Alternatively, add 600j and −600j at B. A couple is
formed of value MB,1 = −4.8iˆ × (−600j)ˆ = 2880k̂. Thus, we have replaced
the resultant force R occuring at A with a force at B and its corresponding
moment. However, an extra −1880k̂ moment is also present. Therefore, the
net moment acting will be : MB = 2880 − 1880 = 1000k̂.
3 (c) In order to find a single force that produces the same effect we need to
find the location of R such that it results in the same moment as in part (a).
Let R act at a distance of d from A to produce a moment of −1880k̂ at A.
Therefore, d can be calculated as: d|R|~ = 1880 =⇒ d = 3.13m
Force System Example Problems Moment of Force about a Given Axis Couple Example Problems

Reduction to a Wrench I

Figure: Reduction to Wrench

1 In general, the resultant force F~R acting at O and the resultant couple
moment M ~ R acting at O need not be ⊥.
2 Resolve M ~ R into two components – M ~ k and M~ ⊥ – one k and another ⊥ to
line of action of F~R .
3 ~ ⊥ can be replaced by moving F~R to point P located at a distance
Effect of M
d from O.
4 ~ k being free vector can now be shifted to the point P
M
Force System Example Problems Moment of Force about a Given Axis Couple Example Problems

Reduction of a simple distributed loading I

Figure: A member subjected to distributed load

Consider a case where a body is subjected to a loading distributed over its

surface → the pressure exerted by wind on the face of a sign, pressure of
water within a tank, etc. → distributed loading
Force System Example Problems Moment of Force about a Given Axis Couple Example Problems

Reduction of a simple distributed loading II

The SI unit of such distributed loading is in Pa

Can the loading be converted to a one along single axis?

Figure: Distributed loading converged to loading along single axis

If the member has a constant width (b) along the x axis then:
w (x) = p(x) × b. The SI unit of such line loading is: N/m
Force System Example Problems Moment of Force about a Given Axis Couple Example Problems

Reduction of a simple distributed loading III

Figure: Resultant force due to distributed loading

The magnitude of the resultant force arising due to such line-distributed

loading is:
ZL Z
FR = w (x)dx = dA = A, (12)
0 A

dA = wdx is the differential area and A the total area of the w − x curve
RL
xw (x)dx
0
Location of the resultant force: x̄ =
RL
w (x)dx
0