Chapter 4

Noncoplanar Force System

Definition:

Forces do not lie on a same plane.

Classification
General

Concurrent

Couple
Parallel

Representation of a Force

F = Fx i + Fy j + Fz k
Fx = F cos = F
Fy = F cos = F
Fz = F cos = F

x
x2 + y2 + z 2
y
x2 + y2 + z 2
z
x2 + y2 + z 2

Example 1
P20 Sample 1.6

Fx=F sin cos

Fy=F sin sin
Fz=F cos

Example 2
P20 Sample 1.7

4.1 Noncoplanar Concurrent Force System

1. Resultant

FR = F = ( Fx i +Fy j + Fk k )

= ( Fx )i + ( Fy ) j + ( Fz )k

Example 3
P24 Problem 1.49

2. Equilibrium

Equilibrium

FR = 0

Fx = 0

Fy = 0
F =0
z

Example 4
Weightless bar AB, AC & AD are connected by ball-andsocket joints to form a frame. Joint B,C & D are supported
on the ground. Given G=500N,a=2m,b=3m,c=1.5m,h=2.5m.
Determined the reaction at point B,C,D.

4-2 Moment of a Force

1.Moment of a force about a point

M O ( F )= r F
Moment Center

Position vector from the

moment center to any point
of action line of the force

Dimension:

[M]=[FL]

Unit: N m
Direction:

Right-hand-rule

When the fingers of your right hand are curled in

the direction of the angle(directed from r toward
F which is less than 180), your thumb points in
the direction of M.

Notation:

Calculation:
If

r = xi + yj + zk F = Fx i + Fy j + Fz k

M O ( F ) = (r F ) = ( xi + yj + zk ) ( Fx i + Fy j + Fz k )

= ( yFx zFy )i + ( zFx xFz ) j + ( xFy yFx )k

Example 5

Known: F = 8 i + 4 j - 2k (N)

r = 3 i 2 j + 4k (m)

Find: M

Example 6
P48 Sample 2.3

2.Principle of Moments
The moment of the resultant force about a
point is equal to the summary of the moments
of its components about that point .

M o ( FR ) = M o ( Fi )

Proof:

Components of a moment

M o ( F )=
yFz zFy

M o ( F )=
zFx xFz

M o ( F )=
xFy yFz

3. Moment of a Force about an Axis

*why introduce this term
Measure the effect of a force to a body which is
rotates about a fixed axis.

Analysis
When a force is parallel with an axis,
the force has no contribution to the
rotate of this body.

Definition
When a plane is set which
including the acting point of this
force and perpendicular to the
axis, the moment of this force to
this axis is equal to the moment of
the component of that force on


M z ( F ) = M o ( Fxy ) this plane to the joint of this plane
to the axis.

Direction
Right-hand rule

Analysis

When a force is in the plane formed by

the force & the axis, the force has no
contribution to the rotate of this body.

Calculation:

M x ( F ) = yFz zFy

) = zFx xFz
M y (F
M ( F ) = xF yF
y
x
z

4. Relationship between two Moment

[ M o ( F )]x = M x ( F )

[ M o ( F )] y = M y ( F )

[ M o ( F )]z = M z ( F )

Example 7
GivenF , l , a, , ABCE are on plane Axy.
Find:

Mx

F ,My

( )

F ,Mz

( )

( )

4-3 Couples
1.Couple
Two parallel noncollinear forces that are
equal in magnitude and opposite in direction.


Notation (F , F )

Role of a coupleCause an object to rotate.

Characteristic
A couple can not be reduced to a force

Can not be replaced by a force

Can not balance with a force

*Force & couple are two basic elements in statics.

2.Moment of a couple
The sum of the moments of this couple to a
point on its plane.




M o ( F , F ) = M o ( F ) + M o ( F ) = rA F + rB F

F = F

No relationship with the

moment center

M o ( F , F ) = (rA rB ) F = rBA F


= M A ( F ) = M B ( F )

M ( F , F )

3.Equivalent Couples
Two couples that have the same vector
moment are said to be equivalent

Ratiocination 1:
A couple can move freely in its body, making
no change to the motion of this body as long
as the vector moment of this couple keep no
change.

Ratiocination 2:
The force & the distant of a couple can be
changed freely, making no change to the
motion of this body as long as the vector
moment of this couple keep no change.

4.The resultant of noncoplanar couples

A noncoplanar couple system can be
replaced by a resultant couple. The vector
moment of this resultant couple equals to the
summary of all vector moments of this
couple system.

M = Mi

5Equilibrium of noncoplanar couple system

Noncoplanar couple system in equilibrium

Mi = 0

M x = 0

M y = 0
M =0
z

Example 8
Giventhe radius of plate O1 & O2 are 0.2m,
AB =0.8m, Plate O1z axis, plate O2 x axis,
F1=3N, F2=5Ndo not consider the weight
Det: the recations at A & B

4.4 Resultant
Statically equivalent

Discussion

F ' R 0, M o = 0

Force through point o

F ' R = 0, M o 0

Couple

F ' R 0, M o 0, F ' R M o

Force at another point

F ' R 0, M o 0, F ' R // M o

wrench

Colliner force-couple
system

F ' R = 0, M o = 0

Equilibrium

4.5 Equilibrium of Noncoplanar General Forces

Equilibrium

FR = 0M R = 0
Fx = 0

Fy = 0
F =0
z

M x = 0

M y = 0
M =0
z

Example 9
GivenF, F2=2F1,,,
FindF1F2Reaction at A &B .

4.6 Equilibrium of parallel forces

M x = 0

M y = 0
F =0
z

Example 10
GivenP= 8kN, P1= 10kN,the distant of point C to x
axis is 0.2m.
Findreactions at point A,B &D