Chapter 3 : Forces Acting in Particles and Rigid Body

Syllabus:
• 3.1. Different types of Forces: Point, Surface Traction and Body Forces –
Translational Force and Rotational Force: Relevant Examples
• 3.2. Resolution and Composition of Forces: Relevant Examples
• 3.3. Principle of Transmissibility and Equivalent Forces: Relevant Examples
• 3.4. Moments and couples: Relevant Examples
• 3.5. Resolution of a Force into Forces and a Couple: Relevant Examples
• 3.6. Resultant of Force and Moment for a System of Force: Examples
 Chapter 3 : Forces Acting in Particles and Rigid Body
Different types of force:
Force is defined as an external agent which change or tends to change the speed, direction
or shape of system. Different types of forces are concentrated load (point load), surface
traction(Pressure force) and body force(weight) are applied in different shapes structures.
Characteristics of force
• Force have magnitude and direction, so it is a vector quantity.
• Force have point of application.
• Force is transmissible vector i.e. it can be moved along its line of action.
Point Load:
When the load is passes through a single point, having
negligible dimension. This is no theoretical assumptions
in reality there is not a point load.
Surface Traction:
The tangential force which are produce due to the friction between two bodies without
slipping is called surface traction. These are external forces which acts on the surface and
are transmitted to the body by contact.
 Chapter 3 : Forces Acting in Particles and Rigid Body
Body force: These are external forces that act at every point on the body. Body forces are
not transmitted by contact. Gravitational force and electromagnetic forces are two example
of body force.
Translational force:
The force acts along the any coordinate axes called the
translational force.
Rotational force:
The force which tends to rotate the body about
an axis is called the rotational force.
System of forces:
 System of forces:
System of forces:
 System of forces:
System of forces:
 Chapter 3 : Forces Acting in Particles and Rigid Body
Unit Vector:
A vector of unit magnitude is known as unit vector. Unit vector are directed along x, y & z axis of
Cartesian coordinate system and are represented as 𝑖Ԧ , 𝑗Ԧ & 𝑘 respectively.
If 𝑎Ԧ , not null vector the unit vector along
𝑎Ԧ
𝑎ො =
𝑎Ԧ
Dot product (Scalar Product)
 Chapter 3 : Forces Acting in Particles and Rigid Body
Cross (Vector Product)

Where ,
𝒊Ԧ * 𝒋Ԧ = 𝒌 but 𝒋Ԧ ∗ 𝒊Ԧ = – 𝒌
𝒋Ԧ * 𝒌 = 𝒊Ԧ
𝒌 ∗ 𝒊Ԧ = 𝒋Ԧ
 Chapter 3 : Forces Acting in Particles and Rigid Body
Moment of a force about a point
 Chapter 3 : Forces Acting in Particles and Rigid Body
Graphical Representation of Moment:
 Varignon’s Theorem:
Varignon’s Theorem:
 Chapter 3 : Forces Acting in Particles and Rigid Body
Resolution and composition of forces:
Resolution: The process of splitting up the given forces into a number of components
without changing its effect on the body is know as resolution of a force.
 Resolution and composition of forces

Composition of forces:
The process of finding a single force from a number of forces which has the same effect as
that of number of force is known as composition of forces and that single force is known as
resultant.
Method for the resultant force:
There are many methods for finding out the resultant force of a number of given forces, yet
the following are important from the subject point of view
1) Analytical Method (Method of Composition for the Resultant forces)
2) Graphical Method
 Composition of forces:
1) Method of Composition for the Resultant forces
 Composition of forces:
2) Graphical Method
a) Parallelogram law of forces
b) Law of triangle of forces
c) Polygon law of forces
a) Parallelogram law of forces
Graphical Method (Parallelogram law of forces)
Graphical Method (Parallelogram law of forces)
 Graphical Method
b) Law of triangle of forces
 Graphical Method
c) Polygon law of forces
c) Polygon law of forces
 Graphical Method (Polygon law of forces)
.
 Chapter 3 : Forces Acting in Particles and Rigid Body
Principle of Transmissibility:
The principle of transmissibility of forces states, “The state of rest or motion of a Rigid Body is
unaltered if a force acting on the body is replaced by another force of the same magnitude and
direction but action any where on the body along the line of action of the replaced force.”

Line of Action Line of Action

D D
C C
B B
A F A
Line of Action Line of Action

F D
D
F C
C
F B B
A A
𝐅𝐀 = 𝐅𝐁 = 𝐅𝐂 = 𝐅𝐃 = 𝐅
 Chapter 3 : Forces Acting in Particles and Rigid Body
Limitation:
The principle of transmissibility of force applied only to a rigid body (not for deformed body) and
when external effect is taken into account i.e. internal effect is neglected.
1) Let’s apply two equal and opposite forces ‘F’ at the two ends of Steel bar AB. Now this metallic bar
will be under Tension.

2) According to the principle of transmissibility of forces, we transfer the force initially at B to A

maintaining its magnitude and direction.

3) This two equal and opposite forces at a point which has no physical significance so we eliminate
these two forces from end ‘A’.

4) Theoretically, the result is the steel bar with no any external force so no any elongation. But
practically, this steel bar extends depending its length, modulus of elasticity, length, magnitude of
force etc. that cause will be elongation of that steel bar which is one contradiction of principle of
transmissibility.
5) So this is only applicable in Rigid body which neglect the internal effect.
 To prove the Principle of Transmissibility by Mathematical Calculation
Principle of Transmissibility:
Let us two points
A = (2, 3, -2)
B = (4, -1, 2)
Let force magnitude (F) = 600N is applied first at point ‘A’ &
Then we transferred it into ‘B’. i.e. in the same line of action.
To prove 𝑴𝑨 = 𝑴𝑩
Unit vector of line AB
4−2 𝑖Ԧ+ −1−3 𝑗+
Ԧ 2+2 𝑘
Or, 𝑓መ =
22 +(−4)2 +42

Ԧ
2Ԧ𝑖−4𝑗+4𝑘 Ԧ
2Ԧ𝑖−4𝑗+4𝑘
Or, 𝑓መ = =
22 +(−4)2 +42 6

Ԧ
600(2Ԧ𝑖−4𝑗+4𝑘)
We know, 𝑭 = 𝐹 ∗ 𝑓መ = = 𝟏𝟎𝟎(𝟐Ԧ𝒊 − 𝟒Ԧ𝒋 + 𝟒𝒌)
6
Moment about origin ‘O’ when the force acting at point A.

𝒊Ԧ 𝒋Ԧ 𝒌
𝑴𝑨 = 𝒓𝑶𝑨 x 𝑭𝑨 = (2Ԧ𝑖 + 3Ԧ𝑗 − 2𝑘) x 𝟏𝟎𝟎(𝟐Ԧ𝒊 − 𝟒Ԧ𝒋 + 𝟒𝒌) = 100 𝟐 𝟑 −𝟐
𝟐 −𝟒 𝟒
= 100{Ԧ𝒊 (12 – 8) – 𝒋Ԧ(8 +4) + 𝒌(−𝟖 − 𝟔)}
= 400Ԧ𝒊 –1200 𝒋Ԧ – 1400 𝒌
 To prove the Principle of Transmissibility by Mathematical Calculation
Let us two points
A = (2, 3, -2)
B = (4, -1, 2)

Ԧ
600(2Ԧ𝑖−4𝑗+4𝑘)
We know, 𝐹Ԧ = 𝐹 ∗ 𝑓መ = = 100(2Ԧ𝑖 − 4Ԧ𝑗 + 4𝑘)
6
Moment about origin ‘O’ when the force acting at point B.

𝑖Ԧ 𝑗Ԧ 𝑘
𝑀𝐵 = 𝑟𝑂𝐵 x 𝐹𝐵 = (4Ԧ𝑖 − 𝑗Ԧ + 2𝑘) x 100(2Ԧ𝑖 − 4Ԧ𝑗 + 4𝑘) = 100 4 −1 2
2 −4 4
= 100{Ԧ𝑖 ( – 4 + 8) – 𝑗Ԧ(16 – 4) + 𝑘(−16 + 2)}
𝑴𝑩 = 400Ԧ𝒊 –1200 𝒋Ԧ – 1400 𝒌

𝑴𝑨 = 𝑴𝑩 , Proved
 Numerical (Composition of Force)
1) Find magnitude, direction and position of Resultant
Force from corner ‘A’. Also calculate the two points
where the line of action of resultant intersects the edge
of the plate.
Solution
Coordinate of A = (0,0), Coordinate of B = (500,0)
Coordinate of C = (700,0), Coordinate of D = (700,375)
Coordinate of E= (0,375)
Calculation of Angle
375 375
𝜃1 = tan−1 = 36.87 and θ2 = tan−1 = 61.93
500 200

i) Resultant force of given system(FR ) = 760Ԧi + 340Cos 61.93Ԧi+ 340Sin61.93Ԧj – 500Cos 36.87Ԧi
+ 500Sin 36.87 Ԧj + 600Ԧj
= 520 Ԧ𝐢+ 1200 Ԧ𝐣
ii) Magnitude of Resultant force (𝐅𝐑 ) = σ 𝐹𝑥 2 + σ 𝐹𝑦 2 = (520)2 +(1200)2
= 1307.82N
Direction of Resultant force (𝛂)
σ Fy 1200
θ = tan−1 σ Fx
= tan−1 = 66.57
520
∴Direction of Resultant force (𝛂) = 𝛉=66.57 (Both value of forces Fx and Fy are positive.)
 Numerical
Calculation of Position of Resultant force
Let position of Resultant force of given system
(FR ) = 520 Ԧi+ 1200 Ԧj is (X Ԧi+Y Ԧj)
Calculation of position of resultant force from point ‘A’.
We know, Moment due to resultant force = Moment due to
component forces (Varignon’s Theorem)
(𝒓𝐑 ) x (𝐅𝐑 ) = σ (𝒓𝐂 ) x (𝐅𝐂 )
Or, {(X Ԧi+Y Ԧj) x520 Ԧi+ 1200 Ԧj} = {(500 Ԧi) x
(– 500Cos 36.87Ԧi + 500Sin 36.87 Ԧj )} + {(500 Ԧi)
x (340Cos 61.93Ԧi+ 340Sin61.93Ԧj )}
Or, (1200X k − 520Y k) =(150000.47k
+ 150003.36k)
Or, (1200X − 520Y) = 300006.83
X Y
300003.83 + −300003.83 =1
1200 520
X – intercept = 250mm
Y – intercept = − 596.94 mm
 Numerical
2. Find the magnitude, direction of resultant force and locate
two points on the edge of the plate where the resultant meet?
Solution

From Varignons Theorem Equation (i) & (ii) are equal

When X = 0, Y = -29.26m and when Y = 0, X = 4.91m
 Couple
Couple:
Couple is defined as the combination of two equal and opposite forces separated by a certain distance.
Couple is a vector because it can be placed any where maintaining its magnitude and direction.
Characteristics of Couple:
1) The algebraic sum of the forces, constituting the couple is zero.
2) The algebraic sum of moments of the forces, constituting the couple any point is the same, the equal
to the moment of the couple itself.
3) A couple can only be balanced by another couple of same moment of opposite sense.
4) Any number of couple in a plane can be reduced to a single couple.
5) The effect of the couple is unchanged if it is rotated through any angle, shifted to any other position
and replaced by another pair of forces whose moment is same.
Application of Couple:
Couples are very important in mechanical engineering and the physical sciences. A few examples are:
• The forces exerted by one's hand on a screw-driver
• Drag forces acting on a spinning propeller
• Force exerted by hands on steering wheel
• To determine the torsional effect in the shaft
 Couple as a Free Vector
Couple as a Free Vector:
 Principle of Moment:
Principle of Moment:
A body acted upon by a number of coplanar forces will be in equilibrium, if the algebraic
of the moments of all forces about a point in the same plane is zero.
i.e. σ 𝑴𝒐𝒎𝒆𝒏𝒕 = 𝟎
i.e. Clockwise moment = Anticlockwise moment
Note: For a body to be in equilibrium
෍ 𝐹𝑥 = 0

෍ 𝐹𝑦 = 0

෍ 𝐹𝑧 = 0
 Numerical (Principle of Moment):
3) Three vertical wires as shown in fig. support a plate of 50Kg.
Determine the tension in each wire. All dimension are in mm.
Solution:
Let ‘O’ be the corner of the plate. Tensions are in the
Positive Z – direction.
(1) Calculation of Tension by using equations of equilibrium.
σ 𝑭𝒛 = 0
𝑇1 + 𝑇2 + 𝑇3 = W
𝑻𝟏 + 𝑻𝟐 + 𝑻𝟑 = 500 ……….(i)
(2) Also taking moment about origin, i.e. σ 𝑴𝒐𝒎𝒆𝒏𝒕 = 𝟎
(750Ԧ𝑗 𝑥𝑇1 𝑘) + (2250Ԧ𝑗 𝑥𝑇2 𝑘) + {(2500Ԧ𝑖 +2000Ԧ𝑗 ) 𝑥𝑇3 𝑘}+ {(1250Ԧ𝑖 +1500Ԧ𝑗 ) 𝑥 (−500𝑘)} = 0
750𝑇1 𝑖Ԧ + 2250𝑇2 𝑖Ԧ − 2500𝑇3 𝑗Ԧ + 2000𝑇3 𝑖Ԧ + 625000Ԧ𝑗 − 750000Ԧ𝑖 = 0
Equating like vectors; OR:
750𝑇1 + 2250𝑇2 + 2000𝑇3 − 750000 = 0 2) Taking moment at point ‘A’ i. e.
750𝑻𝟏 + 2250𝑻𝟐 + 2000𝑻𝟑 = 750000 ……(ii)
Also, − 2500𝑇3 + 625000 = 0 ෍ 𝑴𝒐𝒎𝒆𝒏𝒕 𝒂𝒃𝒐𝒖𝒕 ′𝑨′ = 𝟎
2500𝑻𝟑 = 625000 ……(iii)
Find T2 and T3
(3) Now solving equation (i), (ii) and (iii), we get
3) From equation (i) find T1
𝑻𝟏 = 208.333 N
𝑻𝟐 = 41.667 N and 𝑻𝟑 = 250 N
 Numerical (Principle of Moment):
4) In the system shown in figure, a 5m long beam is held in vertical
position ‘AO’ by three guy wires AB, AC and AD. If a tension
equivalent to 600N is induced in AD and the resultant force at
‘A’ is to be vertical, compute the magnitude of forces in AC and AB.
Solution:
Taking y and z axis along A and B respectively, the coordinates of various
points with respect to O as origin are; A (0,5,0), B (0,0, - 3), C ( -1.5, 0, 1)
and D (2, 0, 1.5).
(1) The vector expression for tension induced in guy wire is = magnitude of tension x unit vector along
the direction of that wires
Position vector (AD ) = 2 Ԧi – 5 Ԧj + 1.5 k
2 Ԧi – 5 Ԧj + 1.5 k 2 Ԧi – 5 Ԧj + 1.5 k
Unit vector along (f෢
AD ) = =
2 2 + 5 2 + 1.5 2 5.59

2 Ԧi – 5 Ԧj + 1.5 k
∴ 𝐓𝐀𝐃 = 𝐓𝐀𝐃 𝐱 (f෢
AD ) = 𝟔𝟎𝟎𝐱 = 214.67 Ԧi – 536.67 Ԧj + 161 k
5.59
Similarly
– 5 Ԧj – 3 k
𝐓𝐀𝑩 = 𝐓𝐀𝑩 𝐱 (f෢
A𝐵 ) = 𝐓𝐀𝑩 𝐱 2 2
= – 0.857 𝐓𝐀𝑩 Ԧj – 0.514 𝐓𝐀𝑩 k
5 + 3

– 1.5 Ԧi– 5 Ԧj + k
𝐓𝐀𝑪 = 𝐓𝐀𝑪 𝐱 (f෢
A𝐶 ) = 𝐓𝐀𝑪 𝐱 2 2 2
= – 0.282 𝐓𝐀𝑪 Ԧi – 0.942 𝐓𝐀𝑪 Ԧj + 0. 𝟏𝟖𝟖 𝐓𝐀𝑪 k
1.5 + 5 + 1
 Numerical (Principle of Moment):
Resultant of all forces meeting at point ‘A’ = 𝐓𝐀𝐃 +𝐓𝐀𝑩 +𝐓𝐀𝑪
= (214.67 Ԧi –536.67 Ԧj + 161 k ) + (–0 .857 TAB Ԧj – 0.514 TAB k ) + (–0 .282 TAC Ԧi –
0.942 TAC Ԧj + 0.188 TAC k )
As resultant forces at ‘A’ is to be vertical σ Fx = 0, σ F𝑧 = 0, That gives
214.67 – 0.282 𝐓𝐀𝐂 = 0
Tension in Cable AC, 𝐓𝐀𝐂 = 761.24 N
Also 161 – 0.514𝐓𝐀𝐁 + 0.188𝐓𝐀𝐂 = 0
161 −(0.188∗761.24)
𝐓𝐀𝐁 = = 591.66 N
0.514
Tension in Cable AB, 𝑻𝑨𝑩 = 591.66 N
 Wrench:
Wrench: A wrench consist of a force and couple with the same line of action. If the direction are
same, it is called a positive wrench and if the directions are opposite, it is called a negative wrench.

𝑭 𝑭
𝑁𝑒𝑔𝑎𝑡𝑖𝑣𝑒
Positive Wrench
Wrench
• The action of a wrench is physically equivalent to a push or pull along an axis plus a twist about
the line of action of force is called the axis of wrench.
• If given system is comprised of forces which are not concurrent, coplanar or parallel, the
equivalent force – couple system at point ‘O’ will consist of a force (F) and couple vector (Mo)
which are not mutually perpendicular (to check use dot product).
• In this case the system cannot be reduced a single force but can be reduced to a wrench ( the
combination of a fore ‘𝐹𝑅 ’ and a couple vector ′𝐶𝑓 ′ directed along a common line of action is
called axis of wrench.
• The ration of Couple vector (Cf ) to the force (F) is called pitch of wrench.
𝐂𝐨𝐮𝐩𝐥𝐞 (Cf ) FR . 𝐂𝐑
• Pitch (P) = = 𝟐
𝐅𝐨𝐫𝐜𝐞(FR ) FR
• When couple is zero, the wrench degenerates into a force, when force is zero, the wrench
degenerates into moment.
• A zero wrench is a condition in which both force and couple are zero.
 Method of Formation of Wrench:
Method of Formation of Wrench:
1) Force 𝐹Ԧ and Couple 𝐶 are in different planes.
Case 1
2) Couple 𝐶Ԧ is resolved into two components 𝐶𝑦 (perpendicular to
the horizontal plane) and 𝐶𝑚 (lying on the plane).
Ԧ to a new position in
3) Couple 𝐶𝑦 is eliminated by moving force (𝐹)
horizontal plane.
4) 𝐶𝑚 can be resolved into two components 𝐶𝑓 (in the direction of
Ԧ and 𝐶𝑛 (perpendicular to the force 𝐹).
force 𝐹) Ԧ Case 2
5) 𝐶𝑛 can be eliminated if force 𝐹Ԧ can be moved parallel to itself to a
new position in the plane perpendicular to the original plane. This
combination of 𝐶𝑓 and 𝐹Ԧ in the same line of action is called wrench.

Case 3
Case 5 Case 4
Wrench Numerical:
5) Replace the two wrench as shown in figure
by a single equivalent wrench and determine
(a) the resultant force
(b) indicate it’s line of action.
Solution:
(i) Resultant force ( FR ) = 𝟒𝟎Ԧ𝐢 + 𝟑𝟎Ԧ𝐣
Unit Vector along (FR )
40Ԧi + 30Ԧj
be (f෡R ) = 2 2
= 0.8 Ԧi + 0.6 Ԧj
40 + 30
Moment due to given forces at origin ‘O’
MO = rԦ x F = 6k x 40Ԧi = 𝟐𝟒𝟎Ԧ𝐣
Now, Resultant of Couple
( CR ) = – 90Ԧj + 80Ԧi + 240Ԧj = 𝟖𝟎Ԧ𝐢 + 𝟏𝟓𝟎Ԧ𝐣
Also, Component CR of along FR is (Cf ) = CR .f෡R = (80Ԧi + 150Ԧj) . (0.8 Ԧi + 0.6 Ԧj ) = 154
Component of couple vector Cf = 154 (0.8 Ԧi + 0.6 Ԧj ) = (123.2 Ԧi + 92.4 Ԧj )
Component of couple vector perpendicular to the force is Cnf = CR – Cf
= (80Ԧi + 150Ԧj) – (123.2 Ԧi + 92.4 Ԧj )
= (– 43.2 Ԧi + 57.6 Ԧj )
Wrench Numerical:
Let the force transfer to the new position (x, y, z) so that the couple formed will be same
magnitude as that of Cnf but opposite direction.
rԦ = (xԦi + yԦj +zk)
∴ (Ԧr x FR ) = Cnf
Or, (xԦi + yԦj +zk) x(40Ԧi + 30Ԧj ) = (– 43.2 Ԧi + 57.6 Ԧj )
Or, 30xk – 40yk + 40zԦj – 30zԦi = – 43.2 Ԧi + 57.6 Ԧj
Now, equation like vectors
40z = 57.6 i.e. z = 1.44
– 30z = – 43.2 i.e. z = 1.44
30x – 40y = 0
Let x – z plane (i.e. y = 0)
∴x=0
So, the point is (0, 0, 1.44) which indicates the line of action of the transferred force.
𝐂𝐨𝐮𝐩𝐥𝐞 (Cf ) FR . 𝐂𝐑 𝟒𝟎Ԧ𝐢 + 𝟑𝟎Ԧ𝐣 . (𝟖𝟎Ԧ𝐢 + 𝟏𝟓𝟎𝐣)
Pitch (P) = 𝐅𝐨𝐫𝐜𝐞(FR )
=
FR 𝟐 = 𝟐
40 2 + 30 2
𝟕𝟕𝟎𝟎
=
𝟐𝟓𝟎𝟎
Pitch (P)= 𝟑. 𝟎𝟖𝒎
Wrench Numerical:
Method of Formation of Wrench
1) Reduce the given system to an equivalent force couple system [FR , CR ] typically located at
origin ‘O’.
2. Determine the pitch (P)
Couple (Cf ) FR . CR
Pitch (P) = = FR 2
Force(FR )
3. Determine the Couple vector (in the direction of force FR ) 𝐂𝐟 = P. 𝐅𝐑
4. Express that the moment about ‘O’ of the wrench is equal to the resultant moment of the force
couple system at ‘O’
Cf + Cnf = ( CR )
Cf + (Ԧr x FR ) = ( CR )
OR
1) FR = 40Ԧi + 30Ԧj
CR = – 90Ԧj + 80Ԧi + 240Ԧj = 𝟖𝟎Ԧ𝐢 + 𝟏𝟓𝟎Ԧ𝐣
Couple (C ) F . C 40Ԧi + 30Ԧj . (80Ԧi + 150j)
2) Pitch (P) = Force(F f) = RF 2R = 2 = 𝟑. 𝟎𝟖𝐦
R R 40 2 + 30 2

3) 𝐂𝐟 = P. 𝐅𝐑
3.08 (40Ԧi + 30Ԧj) = (123.2 Ԧi + 92.4 Ԧj ) Now, equating like vectors
4) Cf + (Ԧr x FR ) = ( CR ) 40z = 57.6 i.e. z = 1.44
(123.2 Ԧi + 92.4 Ԧj ) + {(xԦi + yԦj +zk) x(40Ԧi + 30Ԧj ) } – 30z = – 43.2 i.e. z = 1.44
30x – 40y = 0
= (80Ԧi + 150Ԧj)
Let x – z plane (i.e. y = 0) ∴x=0
or, 30xk – 40yk + 40zԦj – 30zԦi = – 43.2 Ԧi + 57.6 Ԧj
Wrench Numerical:
HW: Replace the two wrench as shown in figure by a single equivalent wrench and
determine (a) the resultant force (b) indicate it’s line of action.
(Ans: P = 2.926m, X= 0, Z = 1.65)
100Nm

40N

O X
6m

Z 50N
80 Nm
Thank
You!!