27 September 2016

CIVL 2110 - Statics

Tutorial 3
George Grigoropoulos
g.grigoropoulos@gmail.com

Omid Sedehi
osedehi@connect.ust.hk

Department of Civil and Environmental Engineering

Hong Kong University of Science and Technology

outline
summa y

uick

ecap

examples

summary
theory
triple product of three vectors

SX

Sy

Sz

S ( P Q ) PX

Py

Pz

QX

Qy Qz

moment of a force about a given axis

MOL L Mo L (r F)

or

Ix

Iy

Iz

MOL x

Fx

Fy

Fz

Ix , Iy , Iz = direction cosines of axis

where

x,y,z = coordinates of point of application of

Fx , Fy , Fz = components of force
3

summary
theory (2)
moment of a couple
a couple is formed when two forces and have:
i. same magnitude,
ii. parallel lines of action and
iii. opposite sense
the body will not translate, only rotate
the vector is called the moment of the couple; it
is perpendicular to the plane of the two forces and
is a free vector

M rF

e ual

o e ts if:

F1d1 F2 d 2

M rF sin Fd
where: d is the perpendicular
distance between the lines
of action of and

summary
theory (3)
equivalent system of forces
system of forces
& couples

equivalent force &

couple system

equivalent force
system

F3(1)
F2(1)
(1)

M1
F4(1)

F1(1)

F(2)

M1(2)

(1)

M2

i F

(1)

F
j

M 0(1) M 0(2)

(2)
j

educed to a
equivalent
system with a
single force
and a couple

O
F(3)

esulta t force and

couple at O mutually
pe pe dicula
single force
5

outline
summa y

uick ecap

examples

warm-up

A force F is applied to the pulley arrangement connected to the cart of

mass m shown. All the pulleys are frictionless and massless but there is
friction between the wheels and the horizontal surface. Draw a free body
diagram of the cart, its wheels, and the two pulleys attached to the cart,
all as one system.

warm-up

warm-up

A unicyclist weighting
exerts
a force on the front pedal with a
vertical component of 4
. The
rear pedal barely touches the other
foot. Assume the wheel and the
frame are massless. Draw the free
body diagrams of the cyclist and
the cycle.

warm-up

10

example 1

Determine the couple moment

produced by the two forces applied
to the handle of the crank as shown.

11

example 1

Express the force F in rectangular components

Fy (20 N ) cos 40
15.32 N

F {11.66i 15.32 j 5.43k}

Fz (12.86 N ) sin 25
5.43 N

Fx (12.86 N ) cos 25
11.66 N

(20 N ) sin 40
12.86 N

12

example 1
introduce a position vector with tail at
and head at

rBA {300i} mm

calculate the couple moment

M rBA F
{300i} {11.66i 15.32 j 5.43k}
300(11.66)i i 300(15.32)i j 300(5.43)i k
{1629 j 4596k} N mm
{1.63 j 4.60k} N m
because the couple has both and
about both the and axes

components, it tends to cause rotation

13

example 2

Two cords are wrapped around pegs attached to a board as shown.

Determine the value of such that
is as small as possible while still
producing a resultant couple moment of zero. Also determine the value of
corresponding to this value of . Neglect the size of the pegs.
14

example 2

moment of the couple at B and C

M C (80 N )(2 m) 160 N m

to balance the
couple
moment calculated previously, the
moment of the couple and must be
. To achieve this value of
couple moment with the smallest
possible value of
,
must be
perpendicular to line
.

15

example 2

find using geometry (equal

angles)

tan 1

4
63.4
2

distance

AD (2 m) 2 4 m 4.472 m
2

moment of couple

and

M D P distance AD P(4.472 m)

16

example 2

the resultant couple moment

must be zero:

M MC M D 0

or,

160 P(4.472 m) 0 P 35.8 N

alternative solution do not assume that is perpendicular to line

and
calculate the couple moment of about point in terms of the unknown
angle

M D ( P cos )(2 m) ( P sin )(4 m)

since the resultant couple moment is zero:

M MC M D 0
P

or,

80
cos 2sin

160 ( P cos )(2 m) ( P sin )(4 m)

17

example 2

now, to find the minimum value

of P:

dP
0
d

or,

dP d
80

d d cos 2sin

thus,

80 sin 2 cos

cos 2sin

or,

sin 2 cos 0 tan 2 63.4

18

example 3

Determine the moment about the line

through points
and
of the force
shown. Express the result in vector form.

19

example 3

the moment
is:
ML u r F

of a force

about a line

where

r rBC [10 m (20 m)]j {30 j} m

the unit vector along

:
rAB (0 20 m) j (0 18 m)k
{20 j 18k} m

then:
u

rAB
20 j 18k

rAB
(20) 2 (18) 2

0.7433 j 0.6690k

20

example 3

the force

in rectangular components:

rDC {15i 10 j 12k} m

F (6 kN )

rDC
15i 10 j 12k

rDC
(15) 2 (10) 2 (12) 2

4.1558i 2.7705 j 3.3247k kN

the moment about

is:

M AB u rBC F
0

0.7433 0.6690

30

4.1558

2.7705

3.3247

83.41 kN m

21

example 3

in vector form:
M AB uM AB
(84.13){0.7433 j 0.6690k}
{62.0 j 55.8k} kN m

is the moment in
the direction of line
,
which is defined by the
unit vector,

22

example 4

A machine part is loaded as shown. The

part is to be attached to a supporting
structure by a single bolt. Determine the
equation of the line defining possible
positions of the bolt for which the given
loading would not cause the part to
rotate. Also, determine the magnitude
and direction of the resultant force.

23

example 4

determine the resultant force:

R F : R 40 N 40 N
x x
x

Ry Fy : Ry 69.28 N 60 N
129.28 N
129.28 N

hence,
R (40) 2 (129.28) 2 135.33 N

tan 1

129.28
72.8
40

24

example 4

place the resultant at a general point (x,y)

and equate moments about a point, say O

M OR M O
or,

(40 N ) y (129.28 N ) x 90 N m 20 N m (40 N )(0.3 m 0.5 m)

(69.28 N )(0.4 m) (60 N )(0.4 m 0.6 m)
solving for y gives the equation of a line:

y 3.232 x 0.357

where for

y 0.8 m x 0.133 m

25

example 4

solving for y gives the equation of a line:

y 3.232 x 0.357

where for

y 0.8 m x 0.133 m

26

example 5

Forces , , , each of magnitude ,

act on the edges of a cube of side a as
shown. Determine the moment of each
force about diagonal
. Also express
each moment in vector form.

27

example 5

the moment
is:
ML u r F

of a force

about a line

where is a unit vector along and is a

position vector from any point on to any
point on the line of action of

to determine the unit vector , first

define the position vector
rCB ai aj

thus
u

rCB
ai aj
i
j

rCB
2
2
a 2 a 2
28

example 5
r rCG a k

to calculate the moment of about line

,
the best choice (simplest form) for is
(note that lies on the line of action of )
vector form of the force =

1
2
u rCG P1 0

for force
M CB

the vector representation of the moment

about
is just the product of the
magnitude of the moment,
, times the
unit vector , since is parallel to
. Thus:
j
aP
aP i
u

M CB

2
2
2
2

aP

i j
2

1
2
0

0
1 0 a
1 0 a

0
P
2 0 0
2 P 0
1
0
0 0 a P 0
2

0
0
aP
2

29

example 5

To calculate the moment of

about line
,
a good choice for is (note that is on
the line of action of )

for force
M CB

1
2
u rCA P2 0
0

1
2
a

r rCA -aj

0 a
1 a 0
1 0 0

0
0 0
2 0 P
2 0 P
1
aP

a P 0 0 0 0
2
2

vector form,
j
aP
aP i
u
M CB

2
2
2
2

aP

i j
2

would be an
equally good choice

vector form of the

force =

30

example 5

to determine the moment of

about line
, note that the line of action of
passes
through point . Thus the force does not tend
to rotate the cube about line
:
M CB 0

and in vector form

M CB 0
in mathematical terms, we could choose a
position vector of zero length (from B to B),
r=0. This would give:
M CB u r F
u 0 F
0

31