P1-TH-C4-1 He Luc Khong Gian - English - Compatibility Mode

4
Chương
Cơ học kỹ thuật: TĨNH HỌC
Engineering Mechanics: STATICS
Spatial force system and

equilibrium of spatial rigid
bodies
Department of Applied Mechanics
Hê lực không gian và cân bằng vật rắn không gian – Spatial force systems & Equilibrium of a spatial rigid body
SPATIAL FORCE SYSTEM
1. MOMENT OF A FORCE ABOUT A POINT / AN AXIS
2. COUPLE – MOMENT VECTOR OF A COUPLE
3. REDUCTION OF A SPATIAL FORCE SYSTEM
4. REDUCTION OF A SPATIAL PARALLEL FORCE SYSTEM
Department of Applied Mechanics 3

MOMENT OF A FORCE ABOUT A POINT / AN AXIS
1. Moment vector of a force about a point

2. Moment of a force about an axis

 
Moment vector of a force vector(F) about a point O, denoted MO (F )
 P
• ..  plane(O, F )
mO
• Direction is determined by the right-hand rule
A
• Magnitude: F
r
MO  F  d  2S OAB B
d
O
 F  r sin  P
    A
MO (F )  r  F (a)
F r
Moment axis d
MO B
O
r mO
A
 d (b)
r O
F


Moment vector of a force about a point is unchanged if z
we slide the force on its line of action. (Principle of force MO B
transmissibility is valid) rB
     F
MO  mO (FA )  rA  FA
    A
 mO (FB )  rB  FB rA
    O rC y
 mO (FC )  rC  FC x C
R
Varignon theorem
    F2
R  (F1, F2 ,..., Fn )
F1

        A
mO (R)  r  R  r  (F1  F2  ...  Fn ) r
     
 mO (F1 )  mO (F2 )  ...  mO (Fn ) O
Calculation in a Cartesian coordinate system Oxyz

    z
F  Fx i  Fy j  Fz k
MO
    
r  rA  xi  yj  zk F
k
   r A
i j k
    i j
MO (F )  r  F  x y z O y
Fx Fy Fz x Using skew-symmetric matrix
   0 z y  Fx 
MO (F )  (yFz  zFy )i    
  MO  rF
 z 0 x  Fy 
(zFx  xFz )j  (xFy  yFx )k  y x 0  Fz 
  

Example 1: Determine moment of a force 60N
z
direct from C to B about point A. B
rB
Using cross product, we have
     2m 60 N
M A  mA(FB )  rB  F A
    1m
y
 mA(FC )  rC  F 3m
rC
uF 3m
x 4m
       C
rC  xC i  yC j  zC k  3i  4 j  0k (m )
      
rB  x Bi  yB j  z Bk  1i  3 j  2k (m )
   
 CB (x B  xC )i  (yB  yC )j  (z B  zC )k  
u f    F  60u f (N )
| CB | (x B  xC )2  (yB  yC )2  (z B  zC )2

    
F  (60 N)uF  (40i  20 j  40k ) N
  
i j k z
     MA
M A  mA(FB )  rB F  1 3 2 B
d rB
40 20 40 F
  
i j k
     A y
M A  mA (FC )  rC F  3 4 0 rC
x C
40 20 40
  
     160i  120 j  100k
M A  160i  120 j  100k Nm  um 
1602  1202  1002
 
M A  1602  (120)2  1002  224Nm  M A  M Aum
Distance from A to the force F d  MA / F m


Moment vector of a force F acting at A about O and about B:   
i j k
    
z MO  mO (F )  rA  F  x A yA z A
Fx Fy Fz
B F
u
rB
A m   0 z A yA  Fx 
rA  Ox    
mO  rAF, mOy    z A 0 x A  Fy 
y m   y
O xA 0  Fz 
 Oz   A  
x
       
M B  mB (FA )  u  F  (rA  rB )  F
  
i j k
 x A  x B yA  yB z A  z B
Fx Fy Fz m B  (rA  rB )F
2. Moment vector of a force about an axis

Algebraic representation
  
m  (F )  hc  [mO (F )], O  
     
M   mO (F )  u   (r  F )  u 
  
 u   (r  F )
 
u B
Vector representation
      M 
M   M u   [u   (r  F )]u    F
MO (F )
 A
O rA

axis  B 
F
F
m M F2
F1
A
A B’
r F1
d
O d
F1
A’  O

 
m  (F )  mO (F1 )  F1  d

 F parallel to 
m  (F )  0 if  
F intersect 

• Moment vector of F about point O
   z
i j k MO
      F
MO  mO (F )  rA  F  x A yA z A
Fx Fy Fz
M r A
• Algebraic moment of F about axis  passing through O O y
    
M   mO (F )  u   (r  F )  u  x
  
 u   (r  F )
  
i j k ux uy uz
  
 (ux i  uy j  uz k )  rx ry rz  rx ry rz
Fx Fy Fz Fx Fy Fz
• Moment vector of F about axis  passing through O
     
M   M u   [u   (r  F )]u 

Example 2: A force F on the diagonal of a cube of edge a,
z
directed from A to B. Determine: B
     
mO (F ) & mx (F ), my (F ), mz (F ) F
Solution    
F  Fx i  Fy j  Fz k
   O
  1 Fi  1 Fj  1
Fk y
3 3 3
x A
         
rA  x Ai  yA j  z Ak  ai  aj  0ek [i , j , k ]
  
i j k
    
mO (F )  rA  F  a a 0 mOx (F )  (yFz  zFy )  13 aF ,


F  13 F 1 1
F mOy (F )  (zFx  xFz )   13 aF
   3 3

 13 aFi  13 aFj  0k mOz (F )  (xFy  yFz )  0
SPATIAL COUPLE SYSTEM
1. Couple and moment vector of a couple

2. Equivalent couples
3. Composing of couples and resolving a couple

Couple is a pair of parallel forces, equal in F

magnitude, opposite in direction. d
Oa B
A couple causes rotation or rotation A
F’
tendency of a rigid body.
The moment of a couple is the sum of the moment vectors of the two
component forces about an arbitrary point. When calculating the moment
of a couple about a point, one can use either an algebraic moment (in
plane) or a vector moment (in space) representation.
C
-F B -F
r
d F -F
A
F rB d
rA F
O

Moment vector of a couple
    
MO  mO (F )  mO (F )
           
 rA  F   rB  F  rA  F   (rA  r )  F  r  F  C
C=M
B -F
r
-F
F A Remarks:
rB d 1. The moment vector of a couple
rA F does not depend on the point O.
O
2. The moment vector of a couple is
the free vector.

2. Equivalent couples
Theorem. Two couples are equivalent if they have the same moment vector.
    F’1
(F1, F1)  (F2 , F2) F’1 P’ F’2
A d2
F’2
Q’
Q’ F2
Q
Q
d1
   
B F1 (F1, F1)  (P , P )
F2  
F1 P  (F2 , F2)
C
C1 B1
F’2 F2 Equivalent transformations
Q
D1 1. Change magnitude F and moment arm d,
A1
but keep Fd = const.
C B 2. Translation or rotation of forces in couple
Q’ plane.
F’1 F1
A 3. Translation to parallel planes.
D

Composing of couples
Theorem. Composing several couples, we get the resultant couple whose moment vector is
equal to the geometric sum of the moment vectors of the component couples.
       
(F1, F1, F2 , F2,..., Fn , Fn)  (Q,Q )
        n
(C 1,C 2 ,...,C n )  C R , C R  C 1  C 2  ...  C n   k
C
k 1
CR
C2
(a) (b)
C1
C2
C1
(c)


• Resolving a couple
b b
 
C  C
Cb
a  a
Ca
  
z C  Ca  Cb
C

k Cz    


C  Cx  Cy  Cz
j
  
i Cx y  C xi  Cy j  C zk
Cy
x
REDUCTION OF A SPATIAL FORCE SYSTEM
1. Reduction of a spatial force system

2. Simple forms of a spatial force system (standard forms)
3. Reduction of a planar parallel distributed force system

1. Reduction of a spatial force system

  
Principle of parallel moving of a force  C  mB (F1 )
C
   

FA  FB , mB FA   F1
A
        
F1  (F1, F2 ,Q )  (F2 , F1,Q )  (F2 ,C )
 F2 B Q
0 C
Reduction of a spatial force system to a resultant force and couple
     
(F1, F2 ,..., Fn ,C j ,..)  (RO , MO ) F1 MO
R‘O
    n 
F2
RO  F1  F2  ...  Fn   Fk , 
r1
     k 1
  
MO  mO (F1 )  mO (F2 )  ...  mO (Fn )  C j r2
O O
n
   n
   Cj
  mO (Fk )  C j   rk  Fk  C j
k 1 k 1
1. Reduction of a spatial force system (cont’)
Proof.      
Fk  (Fk /O ,C k ), C k  mO (Fk )
          
(F1, F2 ,..., Fn ,C j )  (F1/O , F2/O ,..., Fn /O ,C 1,C 2,...,C n ,C j ..)
     
 
 (RO , MO )
R‘O
(a) F1 (b) MO (c)
F2 F1
F2
C1 
r1 C2
r2
O O O
Cj Cj

1. Reduction of a spatial force system / Effect of a point of reduction

    
(F1, F2,..., Fn )  (RO , MO )   Fk
     R O
  R 
A
mk/A
(F1, F2,..., Fn )  (RA , M A ) Fk/A uk

 n
  n
  n
  
MO   mO (Fk )   rk  Fk   (rA  uk )  Fk
A
rk
k 1 k 1 k 1
rA
n 
    n   mk/O
 rA   Fk   mA(Fk )  rA  RA  M A
k 1 k 1 Fk/O O
Resultant moment changing depends on the point of reduction

          
MO  M A  mO (RA ) R  MO  R  M A  R  mO (RA )

0
Varignon Theorem
       n
 
RA  (F1, F2 ,..., Fn )  MO  mO (RA )   mO (Fk )
k 1

The standard form of a force system is the simplest one that replaces the original force
system but does not change the action of the force system on a rigid body.
F1 R‘O
MO
F2
     
(F1, F2 ,..., Fn ,C j ..)  (RO , MO ) r1 
r2
O
Cj O
The standard forms of a spatial force system

 
• Equilibrium if RO  0, M O  0.
 
• A couple if RO  0, M O  0
  
• A force if RO  0, M O  RO  0
  
• A wrench if RO  0, M O  RO  0 (force and couple system, or two non-coplanar forces)


     
RO  0 & M O  RO  0 M O  0 or M O  RO
 
RO  RA 
RA RO
h or h 
O A A MO

MO O
  
(RO , MO )  RA , h  MO / RO

  
RO  0 & M O  RO  0
 force and couple two non-coplanar forces
system (wrench)
  
 RO RO  RA
M RA
  
  P M
MO MO 
M
M
h

 O  O  A Q
M M A Q
           
(RO , MO )  (RO , M  , M  )  (RA , M  )  (RA ,Q,Q )  (P,Q )
• Note: A planar force system does not have this simplest form.

2. Simple forms of a spatial force system (standard forms): special cases
• Concurrent force system: can only be equilibrium or equivalent to a resultant

force.
• Couple system can only be equilibrium or equivalent to a resultant couple.
• Planar force system can be equilibrium or equivalent to a resultant force or a

resultant couple.
• Parallel force system: can be equilibrium or equivalent to a resultant force or

a resultant couple.
• Parallel force system and Planar force system: If their resultant forces are not
zero then they are equivalent to a resultant force.
3. Reduction of a parallel force system (resultant force ≠ 0)
n n
R G , k
R G , k
k 1 k 1
RxC   x kGk , RxC   x kGk , RyC   ykGk
 x kGk  x kGk  ykGk

xC  xC  , yC 
R R R


The parallel distributed force system, perpendicular
to the plane Oxy, force // Oz:
dF  q (x , y )dA
R   q (x , y )dA
 1
my (R)  xC R   x  q(x , y )dA  xC   x  q(x , y )dA
R
 1
mx (R)  yC R   y  q(x , y )dA  yC   y  q(x , y )dA
R

Example 3: Determine the resultant force (magnitude and location) of the distributed force on
the plane.
q (x , y )  q 0 [1  (x / l )2 ] N/m 2 dA  dx  dy
Parabolic surface

a /2 l
R   q(x , y )dA   q(x , y )dxdy   dy  q(x , y )dx
a /2 0
a /2 l l
  a /2
dy  q 0 [1  (x / l )2 ]dx  aq 0 [x  13 l (x / l )3 ]  q 0a[l  13 l ]
0 0
a /2 l a /2 l
 x  q(x, y)dA   a /2
dy  xq(x , y )dx 
0  a /2
dy  q 0x [1  (x / l )2 ]dx
0
l
 aq 0 [ 21 x 2  14 l 2 (x / l )4 ]  q 0a[ 21 l 2  14 l 2 ]
0
a /2 l
 y  q(x, y)dA  a /2
ydy  q(x , y )dx  0
0
1 9 1
xC 
R  x  q(x , y )dA  l
16
yC 
R
y  q(x , y )dA  0

Distributed load (//z) perpendicular to a plane
y  f (x )
R   q (x , y )dl ,
dl  1  y 2 dx

mx (R)  yC R   yq (x , y )dl  yC  R 1  yq (x , y )dl

my (R)  xC R   xq (x , y )dl  xC  R 1  xq (x , y )dl

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4

Spatial force system and

Department of Applied Mechanics

SPATIAL FORCE SYSTEM

1. MOMENT OF A FORCE ABOUT A POINT / AN AXIS

2. COUPLE – MOMENT VECTOR OF A COUPLE

3. REDUCTION OF A SPATIAL FORCE SYSTEM

4. REDUCTION OF A SPATIAL PARALLEL FORCE SYSTEM

Department of Applied Mechanics 3

MOMENT OF A FORCE ABOUT A POINT / AN AXIS

1. Moment vector of a force about a point

Department of Applied Mechanics 4

1. Moment vector of a force about a point

Department of Applied Mechanics 5

1. Moment vector of a force about a point

1. Moment vector of a force about a point

Calculation in a Cartesian coordinate system Oxyz

Fx Fy Fz x Using skew-symmetric matrix

1. Moment vector of a force about a point

Department of Applied Mechanics 8

1. Moment vector of a force about a point

Distance from A to the force F d  MA / F m

Department of Applied Mechanics 9

1. Moment vector of a force about a point

Department of Applied Mechanics 10

2. Moment vector of a force about an axis

2. Moment vector of a force about an axis

2. Moment vector of a force about an axis

2. Moment vector of a force about an axis

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SPATIAL COUPLE SYSTEM

1. Couple and moment vector of a couple

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1. Couple and moment vector of a couple

Couple is a pair of parallel forces, equal in F

1. Couple and moment vector of a couple

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3. Composing of couples and resolving a couple

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3. Composing of couples and resolving a couple

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REDUCTION OF A SPATIAL FORCE SYSTEM

1. Reduction of a spatial force system

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1. Reduction of a spatial force system

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1. Reduction of a spatial force system (cont’)

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1. Reduction of a spatial force system / Effect of a point of reduction

(F1, F2,..., Fn )  (RA , M A ) Fk/A uk

Resultant moment changing depends on the point of reduction

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2. Simple forms of a spatial force system (standard forms)

The standard forms of a spatial force system

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2. Simple forms of a spatial force system (standard forms)

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2. Simple forms of a spatial force system (standard forms)

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