RIGID BODIES

(Equivalent System Of Forces)

 EQUIVALENT SYSTEM OF FORCES
In the preceding chapter it was assumed that each of the
bodies considered could be treated as a single particle.
Such a view, however, is not always possible, and a body,
in general, should be treated as a combination of a large
number of particles.

In this topic, you will study the effect of forces exerted on

a rigid body, and you will learn how to replace a given
system of forces by a simpler equivalent system.
 EQUIVALENT SYSTEM OF FORCES
EXTERNAL AND INTERNAL FORCES
Forces acting on rigid bodies can be separated into two groups: (1)
external forces and (2) internal forces.

1) The external forces represent the action of other bodies on

the rigid body under consideration.

2) The internal forces are the forces which hold together the
particles forming the rigid body.
 EQUIVALENT SYSTEM OF FORCES
As an example of external forces, let us consider the
forces acting on a disabled truck that three people are
pulling forward by means of a rope attached to the front
bumper (Fig. 3.1). The external forces acting on the truck
are shown in a free-body diagram ( Fig. 3.2).
 EQUIVALENT SYSTEM OF FORCES
PRINCIPLE OF TRANSMISSIBILITY (EQUIVALENT FORCES)
The principle of transmissibility
states that the conditions of
equilibrium or motion of a rigid
body will remain unchanged if a
force F acting at a given point of
the rigid body is replaced by a
force F’ of the same magnitude
and same direction, but acting at
a different point, provided that the
two forces have the same line of
action ( Fig. 3.3).
 EQUIVALENT SYSTEM OF FORCES
The two forces F and F’ have the
same effect on the rigid body and
are said to be equivalent. This
principle, which states that the
action of a force may be
transmitted along its line of action, is
based on experimental evidence. It
cannot be derived from the
properties established so far in this
text and must therefore be
accepted as an experimental law.
 EQUIVALENT SYSTEM OF FORCES
VECTOR PRODUCT OF TWO VECTORS:
The vector product of two vectors P and Q is defined as the vector V
which satisfies the following conditions.
1) The line of action of V is perpendicular to the plane
containing P and Q (Fig. 3.4a).
2) The magnitude of V is the product of the magnitudes
of P and Q and of the sine of the angle  formed by P
and Q (the measure of which will always be 180° or less);
we thus have V = PQ sin 
3) The direction of V is obtained from the right-hand rule.
Close your right hand and hold it so that your fingers are
curled in the same sense as the rotation through  which
brings the vector P in line with the vector Q; your thumb
will then indicate the direction of the vector V (Fig. 3.6 b).
 EQUIVALENT SYSTEM OF FORCES
VECTOR PRODUCTS EXPRESSED IN TERMS OF RECTANGULAR
COMPONENTS:
Let us now determine the vector product of any two of the
unit vectors i , j , and k.
Consider first the product i x j ( Fig. a ). Since both vectors
have a magnitude equal to 1 and since they are at a right
angle to each other, their vector product will also be a unit
vector. This unit vector must be k , since the vectors i , j , and
k are mutually perpendicular and form a right-handed triad.
On the other hand, it follows from the right-hand rule that
the product j x i will be equal to -k (Fig. b ).
Finally, it should be observed that the vector product of a
unit vector with itself, such as i x i , is equal to zero, since
both vectors have the same direction.
 EQUIVALENT SYSTEM OF FORCES
The vector products of the various possible pairs of unit vectors are:

By arranging in a circle and in counterclockwise order the three

letters representing the unit vectors ( Fig. 3.11 ), we can simplify
the determination of the sign of the vector product of two unit
vectors: The product of two unit vectors will be positive if they
follow each other in counterclockwise order and will be negative
if they follow each other in clockwise order.

We can now easily express the vector product V of two given vectors P and Q
in terms of the rectangular components of these vectors. Resolving P and Q
into components, we first write
V = P x Q = (Px i + p y j + p z k ) x (Q x i + Q y j + Q z k )
 EQUIVALENT SYSTEM OF FORCES
MOMENT OF A FORCE ABOUT A POINT
The Moment of a force is a measure of its
tendency to cause a body to rotate about
a specific point or axis. In order for a
moment to develop, the force must act
upon the body in such a manner that the
body would begin to twist. This occurs
every time a force is applied so that it
does not pass through the centroid of the
body. A moment is due to a force not
having an equal and opposite force
directly along it's line of action.
 EQUIVALENT SYSTEM OF FORCES
MOMENT OF A FORCE ABOUT A POINT
Let us now consider a force F acting on a
rigid body. The position of A can be
conveniently defined by the vector r which
joins the fixed reference point O with A ; this
vector is known as the position vector of A.
We will define the moment of F about O as
the vector product of r and F:
MO = r x F
Denoting by  the angle between the lines of action of the position
vector r and the force F, we find that the magnitude of the moment
of F about O is
M O = rF sin  = Fd
 EQUIVALENT SYSTEM OF FORCES
PROBLEMS INVOLVING ONLY TWO DIMENSIONS:
Two-dimensional structures and the forces acting on them can be
readily represented on a sheet of paper or on a blackboard. Their
analysis is simpler than that of three-dimensional structures and forces.
Consider, for example, a rigid slab
acted upon by a force F ( Fig. 3.13 ).
The moment of F about a point O
chosen in the plane of the figure is
represented by a vector MO
perpendicular to that plane and of
magnitude Fd .
We can observe in the first case that F tends to rotate the slab
counterclockwise and in the second case that it tends to rotate the
slab clockwise.
 EQUIVALENT SYSTEM OF FORCES
RECTANGULAR COMPONENTS OF THE MOMENT OF A FORCE:
The determination of the moment of a force in space will be
considerably simplified if the force and the position vector of its point
of application are resolved into rectangular x , y , and z components.
Consider, for example, the moment MO about O of
a force F whose components are Fx, Fy, and Fz and
which is applied at a point A of coordinates x, y,
and z ( Fig. 3.15 ).
Observing that the components of the position
vector r are respectively equal to the coordinates
x, y, and z of the point A , we write
r = xi + yj + zk F = F x i + F y j + F z k
We write the moment MO of F about O in the form: M O = M x i + M y j + M z k
 EQUIVALENT SYSTEM OF FORCES
Problem:
A 300-N force is applied at A as shown. Determine (a) the
moment of the 300-N force about D, (b) the smallest force
applied at B that creates the same moment about D.
Solution: Note: CCW – (+) ; CW – (-)

a ) M 1 = +271.89 (0.2 ) = +54.378 N − m

M 2 = −126.78 (0.1 ) = −12.678 N − m

𝑀𝐷 = 41.7𝑘𝑁 − 𝑚
200 2

( )
b ) M D = FB 0.2 2 = 41.7
271.89 N 45 FB FB = 147.43 N
 FB = 147.43 N 45 o
126.78 N
 EQUIVALENT SYSTEM OF FORCES
Problem:
An 8-lb force P is = 8 3.38 lb

applied to a shift 25

7.25 lb
lever. Determine Solution:
the moment of P M 1 = −7.25 (22 ) = −159.5 lb − in
about B when  is M 2 = −3.38 (8 ) = −27.04 lb − in
equal to 25°.
M B = 186.54 lb − in
 EQUIVALENT SYSTEM OF FORCES
Problem:
The 6-m boom AB has a fixed
end A. A steel cable is
stretched from the free end B of
the boom to a point C located
on the vertical wall. If the
tension in the cable is 2.5 kN,
determine the moment about A
of the force exerted by the
cable at B.
 EQUIVALENT SYSTEM OF FORCES
Solution:
F
Given: TBC = 2.5 kN Recall: F = (xi + yj + zk )
d
2.5
T BC = (− 6 i + 2.4 j − 4 k )
7.6
T BC = −1.9737 i + 0.7895 j − 1.3158 k
r AB = 6 i

MA = r x F
M A = (6 i ) x (− 1.9737 i + 0.7895 j − 1.3158 k )
M A = 4.7368 k + 7.8947 j
M A = 7.8947 j + 4.7368 k
d BC = (− 6 ) 2
+ 2.4 2 + (− 4 ) = 7.6 m
2
 EQUIVALENT SYSTEM OF FORCES
Problem:
Before the trunk of a large tree
is felled, cables AB and BC are
attached as shown. Knowing
that the tensions in cables AB
and BC are 555 N and 660 N,
respectively, determine the
moment about O of the
resultant force exerted on the
tree by the cables at B.
 EQUIVALENT SYSTEM OF FORCES
Solution:
555
Given: TBA = 555 N T BA = (− 0.75 i − 7 j + 6 k )
TBC = 660 N 9.25
T BA = −45 i − 420 j + 360 k
660
TBA
TBC T BC = (4.25 i − 7 j + k )
8.25
rOB
T BA = 340 i − 560 j + 80 k
R = 295 i − 980 j + 440 k and rOB = +7 j
MO = rOB x R
MO = (7 j ) x (295 i − 980 j + 440 k )
d BA = (− 0.75 ) + (− 7 ) + 6 = 9.25 m
2 2 2 MO = −2 ,065 k + 3 ,080 i
d BC = 4.25 + (− 7 ) + 1 = 8.25 m
2 2 2 MO = 3 ,080 i − 2 ,065 k