MODULE: ENGINEERING MECHANICS

CODE: BME 1223

PREPARED BY: ADRIANNA BINTI M. SA’ARANI

TOPIC 3 FORCE SYSTEMS (EQUILIBIRIUM OF COPLANAR)

LEARNING OUTCOME
By the end of the topic, you should be able to:

1. Understand the basic concepts of forces include in static and dynamics for 2D
and 3D movement.

3.1 3-D Resultants

Resultant is the simplest force combination which can replace the original system of
forces, moments, and couples without altering the external effect of the system on the
rigid body. As mentioned earlier, the vectorial approach is more suitable to the 3-D
problems. Here the procedure in determining the resultant is explained.
1. Define the suitable rectangular coordinate system and specify a convenient
point O about which the moment will be determined.
2. Move all forces so the new lines of action pass through point O. This step is
already explained in the force-couple equivalence topic.
3. Sum all the forces to R and sum all the couples to M.

𝑅 = ∑𝐹

𝑀 = ∑𝐹 𝑋 𝑅

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 MODULE: ENGINEERING MECHANICS
CODE: BME 1223
PREPARED BY: ADRIANNA BINTI M. SA’ARANI

Figure 3.1: Moment and distance

4. Locate the correct line of action of the resultant R. This step is the reverse of
the force-couple equivalence. The goal is to solve for the piercing point of the
resultant with the object. In 3-D problem, it involves determining 2 unknowns in
the moment equation, r ×R = M. The matrix equation is of rank 2. That is one
of the equation is degenerated.

The selected point O, which can be any convenient point, specifies the value of
1. The couple M. This is because in statics, we can set up the equilibrium
equations

at virtually any point. However, in dynamics the equations of motion will be greatly
simplified at some special points, such as the fixed point or the point of center of
gravity (CG). The equations at CG are

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 MODULE: ENGINEERING MECHANICS
CODE: BME 1223
PREPARED BY: ADRIANNA BINTI M. SA’ARANI

Therefore in dynamics it is usually necessary to calculate the resultants at CG, which

is the selected point O in our context.

Figure 3.2: Determination of the resultant force

3.2 Resultants of special force systems

Concurrent forces If all forces are concurrent, there will be no moment about
the point of concurrency. That is,

𝑅 = ∑𝐹

𝑀 = ∑𝐹 𝑋 𝑅 = 0

Parallel forces If the lines of action of all forces are parallel, the resultant force can be
obtained algebraically. The magnitude of the resultant force, R, is the magnitude of
the algebraic sum of the given forces.

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 MODULE: ENGINEERING MECHANICS
CODE: BME 1223
PREPARED BY: ADRIANNA BINTI M. SA’ARANI

And the moment will be perpendicular to the parallel lines of action.

Wrench resultant If the resultant force and the resultant moment, the resultant
system is called wrench resultant. An example is the reaction force and moment of
the screwdriver. If the force and moment are in the same direction, it is called
positive wrench. Otherwise it is the negative wrench.

Wrench resultant is the simplest form to visualize the effect of general force system
on to the object. That is the object is simultaneously translating and rotating about the
unique axis: the screw axis.

Figure 3.3: A special force system: wrench system

3.3 Wrench resultant – Force-Couple equivalence

Any force system has the equivalent wrench resultant. Following is the procedure in
determining the wrench resultant. Figure 3.4 graphically shows each step.
1. Determine the force-couple resultant R and M at any convenient point O.
2. Orthogonally project M along and perpendicular to the line of action of R,
nR. Let M1 and M2 be the components of M along and perpendicular to
nR, respectively. Then,

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 MODULE: ENGINEERING MECHANICS
CODE: BME 1223
PREPARED BY: ADRIANNA BINTI M. SA’ARANI

3. Transform the couple M2 into the equivalent pair of R and −R, with –R applied at O
to cancel R.
4. Since the couple is a free vector, we can move M1, which is parallel to R, such that
its line of action is the same as that of R. The result is the wrench resultant with the
correct line of action.

Figure 3.4: Wrench Resultant

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 MODULE: ENGINEERING MECHANICS
CODE: BME 1223
PREPARED BY: ADRIANNA BINTI M. SA’ARANI

Example 3.1
The pulley and gear are subjected to the loads shown. For these forces, determine the
equivalent force-couple system at point O.

Solution:

This is the typical step in shaft analysis. First we determine the resultant force R. The
resultant moment MO is determined by the help of principle of moment and by
inspection, since the force system is rather simple.

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 MODULE: ENGINEERING MECHANICS
CODE: BME 1223
PREPARED BY: ADRIANNA BINTI M. SA’ARANI

Example 3.2
Two upward loads are exerted on the small 3D truss. Reduce these two loads to a
single force-couple system at point O. Show that R is perpendicular to MO. Then
determine the point in the x-z plane through which the resultant passes.

Solution:
Since the moment involves the cross product of the position and force vector, R must
be perpendicular to MO. However we have to show it explicitly for this problem.
R = 800j + 1600j = 2400j N
By inspection,

MO = 800 × 2.4k + 1600 × 2.4k + 1600 × 0.9i = 1440i + 5760k Nm

It is therefore obvious that R is perpendicular to MO. To determine the point in the x-z
plane through which the resultant passes, we can use the observation since R is a
simple force aligning with one of the coordinate axis. Note R is parallel to the y-axis
and must produce the moment of 5760k Nm. Therefore R must be x m far from the y-
z plane to produce 5760k Nm. That is 5760 = 2400 × x, x = 2.4 m.

And R must also produce the moment of 1440i Nm. Therefore R must be −z m far
from the x-y plane to produce 1440i Nm. That is 1440 = 2400 × (−z) , z = −0.6 m

Consequently, the resultant force R passes through (2.4,−0.6) m in the x-z plane.

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 MODULE: ENGINEERING MECHANICS
CODE: BME 1223
PREPARED BY: ADRIANNA BINTI M. SA’ARANI
Example 3.3
Replace the two forces acting on the block by a wrench. Write the moment M
associated with the wrench as a vector and specify the coordinates of the point P in
the x-y plane through which the line of action of the wrench passes.

Solution:
In this problem, we will follow the procedure of determining the
wrench resultant explained in previous section First, we choose point O at which to
determine the force-couple resultant. Hence, R = Fi – Fk

Thirdly, we transform the couple M⊥ into pair of forces R and −R. Suppose
r is the position vector of the desired piercing point in the x-y plane which can be
described as r = xi + yj
The moment equation is formed to transform between the pair of forces and the
couple; M⊥ = r × R in which the values of M⊥ and R are substituted to solve for r. The
coordinates are
x = a + c, y = b/2

Finally, the wrench consists of R and Mk which pass through the x-y plane at x = a +
c and y = b/2.

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 MODULE: ENGINEERING MECHANICS
CODE: BME 1223
PREPARED BY: ADRIANNA BINTI M. SA’ARANI

TUTORIAL – TOPIC 3

1. The resultant of the two forces and couple may be represented by a wrench.
Determine the vector expression for the moment M of the wrench and find the
coordinates of the point P in the x-z plane through which the resultant force of
the wrench passes.