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Chapter Objectives
• Concept of moment of a force in two and
three dimensions
• Method for finding the moment of a force
about a specified axis.
• Define the moment of a couple.
• Determine the resultants of non-concurrent
force systems
• Reduce a simple distributed loading to a
resultant force having a specified location
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Chapter Outline
1. Moment of a Force – Scalar Formation
2. Cross Product
3. Moment of Force – Vector Formulation
4. Principle of Moments
5. Moment of a Force about a Specified Axis
6. Moment of a Couple
7. Simplification of a Force and Couple System
8. Further Simplification of a Force and Couple
System
9. Reduction of a Simple Distributed Loading
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Moment of a Force – Scalar Formation
• Moment of a force about a point or axis – a
measure of the tendency of the force to cause a
body to rotate about the point or axis
• Torque – tendency of rotation caused by Fx or
simple moment (Mo) z
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Moment of a Force about a point – Scalar Formation
Magnitude
• For magnitude of MO,
MO = Fd (Nm)
where d = perpendicular distance
from O to its line of action of force
Direction
• Direction using “right hand rule”
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Moment of a Force – Scalar Formation
Resultant Moment
• Resultant moment, MRo = moments of all
the forces
MRo = ∑Fd
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Example
For each case, determine the moment of the
force about point O.
Solution
(b )M o (50N )(0.75m ) 37.5N.m(CW )
(c )M o ( 40N )( 4m 2 cos 30 m ) 229N.m(CW )
Solution
(d )M o (60N )(1sin 45 m ) 42.4N.m(CCW )
(e )M o (7kN )(4m 1m ) 21.0kN.m(CCW )
Cross Product
• Cross product of two vectors A and B yields C,
which is written as
C=AXB
Magnitude
• Magnitude of C is the product of
the magnitudes of A and B
• For angle θ, 0° ≤ θ ≤ 180°
C = AB sinθ
C= A X B = (AB sinθ)uc
Cross Product
Direction
• Vector C has a direction that is perpendicular to
the plane containing A and B such that C is
specified by the right hand rule
• Expressing vector C when
magnitude and direction are known
C = A X B = (AB sinθ)uC
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Copyright © 2010 Pearson Education
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Cross Product
Cartesian Vector Formulation
• Use C = AB sinθ on pair of Cartesian unit
vectors
• A more compact determinant in the form as
i j k
AXB Ax Ay Az
Bx By Bz
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Moment of Force about a point - Vector Formulation
• Moment of force F about point O can be
expressed using cross product
MO = r X F
Magnitude
• For magnitude of cross product,
MO = rF sinθ
• Treat r as a sliding vector. Since d = r sinθ,
MO = rF sinθ = F (rsinθ) = Fd
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Moment of Force about a point - Vector Formulation
Direction
• Direction and sense of MO are
determined by right-hand rule
*Note:
- “curl” of the fingers indicates
the sense of rotation
- Maintain proper order of r
and F since cross product
is not commutative
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Moment of Force about a point - Vector Formulation
Principle of Transmissibility
• For force F applied at any point A, moment
created about O is MO = rA x F
• F has the properties of a sliding vector, thus
MO = r1 X F = r2 X F = r3 X F
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Moment of Force about a point - Vector Formulation
Cartesian Vector Formulation
• For force expressed
in
Cartesian
form,
i j k
M O r XF rx ry rz
Fx Fy Fz
• With the determinant expended,
MO = (ryFz – rzFy)i
– (rxFz - rzFx)j + (rxFy – yFx)k
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Moment of Force about a point - Vector Formulation
Resultant Moment of a System of Forces
• Resultant moment of forces about point O
can be determined by vector addition
MRo = ∑(r x F)
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Example
Two forces act on the rod. Determine the
resultant moment they create about the flange
at O. Express the result as a Cartesian vector.
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Solution
Position vectors are directed from point O to each
force are rA 5 j m
rB 4i 5 j 2k m
The resultant moment about O is
M O r F rA F rB F
i j k i j k
0 5 0 4 5 2
60 40 20 80 40 30
30i 40 j 60k kN m
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Copyright © 2010 Pearson Education
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Copyright © 2010 Pearson Education
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Copyright © 2010 Pearson Education
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Moment of a Force about a Specified Axis
• For moment of a force about a point, the moment
and its axis is always perpendicular to the plane
• A scalar or vector analysis is used to find the
component of the moment along a specified axis
that passes through the point
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Moment of a Force about a Specified Axis
Scalar Analysis
• According to the right-hand rule, My is directed
along the positive y axis
• For any axis, the moment is
M a Fd a
• Force will not contribute a moment
if force line of action is parallel or
passes through the axis
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Moment of a Force about a Specified Axis
Vector Analysis
• For magnitude of MA,
MA = MOcosθ = MO·ua
where ua = unit vector
• In determinant form,
uax uay uaz
M a ua (r XF ) rx ry rz M a
Fx Fy Fz
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Example 4.8
Determine the moment produced by the force
F which tends to rotate the rod about the AB
axis.
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Solution
Unit vector defines the direction of the AB axis of the
rod, where
rB 0.4i 0.2 j
uB 0.8944i 0.4472 j
rB 0.4 0.2
2 2
For simplicity, choose rD
rD 0.6i m
F 300k N
The force is
Copyright © 2010 Pearson Education
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Copyright © 2010 Pearson Education
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Copyright © 2010 Pearson Education
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Copyright © 2010 Pearson Education
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4-56: Determine the moment produced by the force F about segment AB of the pipe
assemble. Express the result as a Cartesian vector
Copyright © 2010 Pearson Education
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Copyright © 2010 Pearson Education
South Asia Pte Ltd
Copyright © 2010 Pearson Education
South Asia Pte Ltd
Copyright © 2010 Pearson Education
South Asia Pte Ltd
Copyright © 2010 Pearson Education
South Asia Pte Ltd
Copyright © 2010 Pearson Education
South Asia Pte Ltd
