College of Engineering

Department of Civil Engineering

Engineering Mechanics I Statics (CEng2103)

2. Force Systems

By Mubarek Zeyne (MSc)

October, 2024
AASTU, Addis Ababa, Ethiopia

1
 Course Learning Outcomes

After completion of this chapter, students

will be able to:
❑ Compute resultant for a given force system in
2D or 3D spaces
❑ Convert force system to force-couple system or
vice versa.
❑ Compute wrench resultant for a given force
system

2
 2. Force systems
Introduction
♠ Studying the effects of forces on structures is important
in the study of mechanics and in other subjects such as
stress analysis, design of structures and machines, and
fluid flow.
♠ A force as an action of one body on another.
♠ In dynamics we will see that a force is defined as an
action which tends to cause acceleration of a body.
♠ A force is a vector quantity, because its effect depends
on the direction (its line of action) as well as on the
magnitude of the action. Thus, forces may be combined
according to the parallelogram law of vector addition.

3
 2. Force systems…
Introduction…
♠ The action of the cable tension on the bracket in Fig. 2/1a is
represented in the side view, Fig. 2/1b, by the force vector P of
magnitude /P/. The effect of this action on the bracket depends on
/P/, the angle Ɵ, and the location of the point of application A.

♠ Changing any one of these three

specifications will alter the effect on the
bracket, such as the force in one of the
bolts which secure the bracket to the base,
or the internal force and deformation in
the material of the bracket at any point.
Thus, the complete specification of the
action of a force must include its
magnitude, direction, and point of
application, and therefore we must treat it
as a fixed vector.

4
 2. Force systems…
Introduction…
External and Internal Effects of forces

 External effects  Internal effects

Due to external applied force  The effects of a force
on an object, there will be a internal to a given body are:
reaction force to be ➢ internal forces (Axial and
developed from the shear stress, moments) and
contacting surface.
➢ deformations or deflections
Thus force external to the (strain)
body are:
♠ Applied forces
♠ Reactive forces (support
reaction force).

5
 2. Force systems…
Introduction…
Principle of Transmissibility
♠ For example, the force P acting on the rigid plate in Fig. 2/2 may be
applied at A or at B or at any other point on its line of action, and the
net external effects of P on the bracket will not change. The external
effects are the force exerted on the plate by the bearing support at O
and the force exerted on the plate by the roller support at C.

♠ This conclusion is summarized by the principle of transmissibility, which

states that a force may be applied at any point on its given line of
action without altering the resultant effects of the force external to
the rigid body on which it acts.

6
 2. Force systems…
Introduction…
Force Classification
♠ Forces are classified as either contact or body forces.
♠ A contact force is produced by direct physical contact;
an example is the force exerted on a body by a
supporting surface.
♠ A body force is generated by virtue of the position of a
body within a force field such as a gravitational,
electric, or magnetic field. E.g: Weight of a given
object.
♠ Forces may be further classified as either
♠ concentrated forces or point load:
♠ Distributed:
♠ Linearly distributed or line load
♠ Aerially distributed
7
 2. Force systems…
Introduction…
♠ A system of forces can be grouped into different categories depending on their
arrangement in space.
♠ Coplanar Forces:-are forces which act on the same plane.
♠ Depending on their arrangement on the plane too, coplanar forces can
further be divided as:
♠ Coplanar collinear forces:-are coplanar forces acting on the same line-collinear.

♠ Coplanar parallel forces:-Are forces which are on the same plane and parallel

♠ Coplanar concurrent forces:-Are forces on the same plane whose lines of

action intersect at a point.
Two or more forces are said to be concurrent at a point
if their lines of action intersect at that point.

♠ General coplanar forces:

8
 2. Force systems…
SECTION A TWO-DIMENSIONAL FORCE SYSTEMS
Rectangular Components
♠ The most common two-dimensional resolution of a force vector is into
rectangular components. It follows from the parallelogram rule that the
vector F of Fig. 2/5 may be written as

where Fx and Fy are vector components of F in the x- and

y-directions. Each of the two vector components may
be written as a scalar times the appropriate unit vector. In
terms of the unit vectors i and j of Fig. 2/5, Fx =Fxi and Fy =Fyj,
and thus we may write

where the scalars Fx and Fy are the x and y scalar components of the vector F.
For the force vector of Fig. 2/5, the x and y scalar components are both positive and
are related to the magnitude and direction of F by

9
 2. Force systems…
Example
The forces F1, F2, and F3, all of which act on point A of the bracket, are specified in
three different ways. Determine the x and y scalar components of each of the three
forces and Compute the resultant force, R.
Solution:

Finally:- ෍ 𝑭𝒙 = 𝟒𝟗𝟏 − 𝟒𝟎𝟎 + 𝟑𝟓𝟖 = 𝟒𝟒𝟗𝑵

෍ 𝑭𝒚 = 𝟑𝟒𝟒 + 𝟑𝟎𝟎 − 𝟕𝟏𝟔 = −𝟕𝟐𝑵 R=449 i-72 j (N) ….Answer

10
 2. Force systems…
2D System …
Moment
♠ In addition to the tendency to move a body in the direction of its application, a
force can also tend to rotate a body about an axis. The axis may be any line
which neither intersects nor is parallel to the line of action of the force. This
rotational tendency is known as the moment M of the force. Moment is also
referred to as torque.
Moment about a Point
♠ When dealing with forces which all act in a given plane, we customarily speak of the
moment about a point. By this we mean the moment with respect to an axis normal to
the plane and passing through the point. Thus, the moment of force F about point A in
Figure (d) has the magnitude M = Fd and is counterclockwise.
♠ Moment directions may be accounted for by using a stated sign convention, such as a plus
sign (+) for counterclockwise moments and a minus sign (-) for clockwise moments, or
vice versa.

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 2. Force systems…
2D System …
Moment Calculation by:
1) Moment arm rule: Moment is the scalar product of force magnitude with a distance which is
perpendicular to the line of action of the force, i.e M=Fd
2) Vector Approach: Use of the Cross-Product M=rXF where r is Position vector locating the
point of application of the force vector F. Where F is a force written in the form of vector.
We establish the direction and sense of M by applying the right-hand rule to the sequence
rXF. If the fingers of the right hand are curled in the direction of rotation from the positive
sense of r to the positive sense of F, then the thumb points in the positive sense of M.

Varignon’s Theorem
One of the most useful principles of mechanics is Varignon’s theorem, which states that the
moment of a force about any point is equal to the sum of the moments of the components of
the force about the same point.
By Moment arm rule:

By Vector approach: Using the

distributive law for cross products, we
have

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 2. Force systems…
2D System …
Couple

♠ The moment produced by two equal, opposite, and noncollinear forces is

called a couple. Couples have certain unique properties and have
important applications in mechanics.

CCW CW

♠ Here again, the moment expression contains no reference to the

moment center O and, therefore, is the same for all moment centers.
Thus, we may represent M by a free vector, as shown in Fig. 2/10c,
where the direction of M is normal to the plane of the couple and the
sense of M is established by the right-hand rule.

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 2. Force systems…
2D System …
Equivalent Couples
♠ Changing the values of F and d does not change a given couple as
long as the product Fd remains the same. Likewise, a couple is not
affected if the forces act in a different but parallel plane.
♠ Figure 2/11 shows four different configurations of the same couple
M. In each of the four cases, the couples are equivalent and are
described by the same free vector which represents the identical
tendencies to rotate the bodies.

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 2. Force systems…
2D System …
Force-couple System
♠ The effect of a force acting on a body is the tendency to push or pull the
body in the direction of the force, and to rotate the body about any fixed
axis which does not intersect the line of the force. We can represent this
dual effect more easily by replacing the given force by an equal parallel
force and a couple to compensate for the change in the moment of the
force.
♠ The replacement of a force by a force and a couple is illustrated in Fig.
2/12, where the given force F acting at point A is replaced by an equal
force F at some point B and the counterclockwise couple M =F*d. The
transfer is seen in the middle figure, where the equal and opposite forces F
and -F are added at point B without introducing any net external effects on
the body. The combination of the force and couple in the right-hand part of
Fig. 2/12 is referred to as a force–couple system.

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 2. Force systems…
2D System …
Force-couple System…
♠ By reversing this process, we can combine a given couple and a force
which lies in the plane of the couple (normal to the couple vector) to
produce a single, equivalent force. Replacement of a force by an
equivalent force–couple system, and the reverse procedure, have many
applications in mechanics and should be mastered
Example: Replace the horizontal 80-lb force acting on the lever by
an equivalent system consisting of a force at O and a couple.

Solution:
We apply two equal and opposite
80-lb forces at O and identify the
counterclockwise couple
[M =F*d];
M = 80(9 sin 60) = 624 lb-in.
Answer
16
 2. Force systems… 17
2D Examples…
Force-coup System…
♠ The 30-N force P is applied perpendicular to the portion BC of the bent bar.
Determine the moment of P about point B and about point A.

Solution:

Py=30*sin(45)=21.21 N
P=30N

MB=30*1.6=48 NM

Px=30*cos(45)
=21.21N

P=30N M2=21.21N*1.6m
=33.94 Nm
MA=MB+M2
=48+33.94
21.21 N
=81.94 Nm CW

MB=48 Nm MA=81.94 NM

MA=81.94 Nm CW (Answer) 21.21 N

 2. Force systems…
2D Examples…
Force-coup System…
♠ The 30-N force P is applied perpendicular to the portion BC of the bent bar.
Force-couple system at point A.

Given: Solution: x=1.6*cos45=1.131 m

y=1.6*sin45=1.131 m
Py=30*sin(45)
MPy=21.21*1.131=23.99 Nm
=21.21 N Py=21.21 N
MPX=21.21*(1.131+1.6)
=57.93 Nm
Px=30*cos(45) MA=MPy+MPX
=21.21N Px=21.21N =23.99+57.93
=81.94 Nm
y
45
45

21.21 N

MA=81.94 NM

18 MA=81.94 Nm CW (Answer) 21.21 N

 2. Force systems…
2D Examples…
Solution: Force-couple system at point A. Alternative approach by calculating
moment arm
Angle analysis:
Given: diagram
P=30 N ✓Angle <ABC=180-45=135ᶱ and α=?
Dimension Analysis:
✓ Using Cosine laws for the triangle ABC:
C /AC/2=1.62 + 1.62 – 2*1.6*1.6*cos(135ᶱ),
/AC/=2.956m and then Using sine law:
/𝑨𝑪/ /𝑨𝑩/ 𝟐.𝟗𝟓𝟔 𝟏.𝟔
➢ = 𝐭𝐡𝐮𝐬 = ; α=22.5ᶹ
𝑺𝒊𝒏(𝟏𝟑𝟓) 𝑺𝒊𝒏(𝜶) 𝑺𝒊𝒏(𝟏𝟑𝟓) 𝑺𝒊𝒏(𝜶)
Therefore β=90-α; β=90-22.5; β=67.5˚
B ✓ d=/AC/*sin β=2.956*sin(67.5˚)=2.73m.
✓ Then by applying two equal but opposite forces
of magnitude=30N at point A,
1.6 m

P=30 N ✓ As a result
• Couple, M=30*2.73=81.93 Nm (CW) and
• Force, P=30 N at 45˚ from horizontal line
.A P=30 N
MA=81.93 Nm (CW)
45˚
P=30 N A . 19
(Answer)
 2. Force systems…
2D System …
Resultant
♠ Most problems in mechanics deal with a system of forces, and it is
usually necessary to reduce the system to its simplest form to describe
its action. The resultant of a system of forces is the simplest force
combination which can replace the original forces without altering the
external effect on the rigid body to which the forces are applied.

♠ Equilibrium of a body is the condition in which the resultant of all

forces acting on the body is zero. This condition is studied in statics.
When the resultant of all forces on a body is not zero, the acceleration
of the body is obtained by equating the force resultant to the product
of the mass and acceleration of the body. This condition is studied in
dynamics. Thus, the determination of resultants is basic to both statics
and dynamics.

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 2. Force systems…
2D System …
Resultant…
♠ The most common type of force system occurs when the forces all act in a single plane,
say, the x-y plane, as illustrated by the system of three forces F1, F2, and F3 in Fig.
2/13a. We obtain the magnitude and direction of the resultant force R by forming the
force polygon shown in part b of the figure, where the forces are added head-to-tail in
any sequence. Thus, for any system of coplanar forces we may write

Graphically, the correct line of

action of R may be obtained by
preserving the correct lines of
action of the forces and adding
them by the
parallelogram law. The principle
of transmissibility usually used
in this process.
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 2. Force systems…
2D System …
Resultant…
Algebraic Method: the magnitude and direction of the resultant force (R) for the
given force system by a vector summation of forces . The steps are:
1. Choose a convenient reference point and move all forces to that point. This process is
depicted for a three-force system in Figs. 2/14a and b, where M1, M2, and M3 are the couples
resulting from the transfer of forces F1, F2, and F3 from their respective original lines of
action to lines of action through point O.
2. Add all forces at O to form the resultant force R, & add all couples to form the resultant
couple MO. We now have the single force–couple system, as shown in Fig. c.
3. In Fig. 2/14d, find the line of action of R by requiring R to have a moment of MO about point
O. Note that the force systems of Figs. 2/14a and 2/14d are equivalent, and that Σ(Fd) in Fig.
2/14a is equal to Rd in Fig. 2/14d.

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 2. Force systems…
2D System …
Example
♠ We Determine the resultant of the four forces and
one couple which act on the plate shown.

Solution: Point O is selected as a convenient reference

point for the force–couple system which is to represent the
given system.

Also determine the final line of action of R such that R alone

represents the original system.
Generally, the desired line of action by principle of moments:-

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 2. Force systems…
2D System …
Exercise
1) Determine and locate the resultant R of the
two forces and one couple acting on the I-
beam.

2) If the resultant of the two forces and

couple M passes through point O,
determine M.

3) Replace the two forces and couple by

an equivalent couple M and resultant
force R at A.
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 2. Force systems…
3D Systems
Rectangular Components
♠ Many problems in mechanics require analysis in three dimensions, and for
such problems it is often necessary to resolve a force into its three mutually
perpendicular components.
♠ The force F acting at point O in Fig. 2/16 has the rectangular components
Fx, Fy, Fz, where

The unit vectors i, j, and k are in the x-, y-, and z-

directions, respectively. Using the direction cosines
of F, which are l =cos Ɵx, m =cos Ɵy,
and n =cos Ɵz, where l 2+m2+n2=1, we may write
the force as
Force, F equals the force magnitude F times a unit
vector nF which characterizes the direction of F, or
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 2. Force systems…
3D System …
Force-couple System
♠ The In solving three-dimensional problems, one must usually find the x,
y, and z scalar components of a force. In most cases, the direction of a
force is described:
(a) by two points on the line of action of the force or
(b) by two angles which orient the line of action.

(a) Specification by two points on the line of action

of the force.
If the coordinates of points A and B of Fig. 2/17 are
known, the force F may be written as

Thus the x, y, and z scalar components of F are

the scalar coefficients of the unit vectors i, j, and
k, respectively.

26
 2. Force systems…
3D System …
(b) Specification by two angles which orient the line of
action of the force.
Consider the geometry of Fig. 2/18. We assume that the
angles Ɵ and Ø are known. First resolve F into horizontal
and vertical components.

Then resolve the horizontal component Fxy

into x- and y-components

we must use a right-handed set of axes in our three-dimensional work to be consistent with the right-
hand-rule definition of the cross product. When we rotate from the x- to the y-axis through the 90°
angle, the positive direction for the z-axis in a right-handed system is that of the advancement of a
right-handed screw rotated in the same sense. This is equivalent to the right-hand rule
27
 2. Force systems… 28
3D System …
Example: The rigid pole and cross-arm assembly is supported by the three cables
shown. A turnbuckle at D is tightened until it induces a tension T in CD of 1.2 kN.
Express T as a vector. Does it make any difference in the result which coordinate
system is used?

Solution:
• Coordinate of point C(-1.5,0,4.5)
• Coordinate of point D(0,3,0)
• Vector CD=(1.5,3,-4.5) or
CD=1.5i + 3j-4.5k and
• mag. of CD
/CD/= 𝟏. 𝟓 ∗ 𝟏. 𝟓 + 𝟑 ∗ 𝟑 + −𝟒. 𝟓 ∗ −𝟒. 𝟓
/CD/= 𝟑𝟏. 𝟓=5.61
• Unit vector of CD, nCD=CD/(/CD/)
nCD=CD/(/CD/)=[1.5i + 3j-4.5k]/5.61
nCD=0.267 i + 0.535 j – 0.802 k
• Vector, T=/T/ * nCD
T=1.2*[0.267 i + 0.535 j – 0.802 k] kN
Vector T= 0.321 i + 0.641 j – 0.962 k kN,
NO!, Coord. system do not affect. (Ans)
 2. Force systems…
3D System …
Moment in 3D
♠In 2D analyses it is often convenient to determine a moment magnitude by scalar
multiplication using the moment-arm rule. In 3Ds, however, the determination of the
perpendicular distance between a point or line and the line of action of the force can
be a tedious computation. A vector approach with cross-product multiplication then
becomes advantageous
Evaluating the Cross Product
The cross-product expression for MO may be written in the
determinant form

Note the symmetry and order of the terms, and

note that a right-handed coordinate system must
be used. Expansion of the determinant gives

29
 2. Force systems…
3D System …
Moment in 3Ds …
♠The scalar magnitudes of the moments of these forces about the positive x-, y-, and
z-axes through O can be obtained from the moment-arm rule, and are

which agree with the respective terms in the determinant expansion for
the cross product, rXF.
♠The magnitude of the moment, /M/=√(𝑴𝒙𝟐 + 𝑴𝒚𝟐 + 𝑴𝒛𝟐)

30
 2. Force systems…
3D System …
Varignon’s Theorem in Three Dimensions
♠The theorem is easily extended to three dimensions. Figure 2/24 shows a
system of concurrent forces F1, F2, F3, . . . . The sum of the moments
about O of these forces is

where we have used the distributive law for cross

products. Using the symbol MO to represent the
sum of the moments on the left side of the above
equation, we have

This equation states that the sum of the moments of a system of concurrent forces
about a given point equals the moment of their sum about the same point.

31
 2. Force systems…
3D System …
Example: The turnbuckle is tightened until the tension in cable AB is
2.4 kN. Determine the moment about point O of the cable force acting
on point A and the magnitude of this moment.
Solution:
✓ First determine coordinates of
necessary points, in this case
point O, A, and B.
✓ Write the force as a vector
✓ Determine position vector, rOA
✓ Determine moment about O,
Use the cross product as M=rXF

32
 2. Force systems…
3D System …
Solution: We begin by writing the described force as a vector.
• Coordinate of point A(1.6,0,2) & of point B(2.4,1.5,0)
‡ Vector AB=(0.8,1.5,-2) and
‡ Mag. Of AB,
/AB/= 𝟎. 𝟖 ∗ 𝟎. 𝟖 + 𝟏. 𝟓 ∗ 𝟏. 𝟓 + −𝟐 ∗ −𝟐
/AB/= 𝟔. 𝟖𝟗 =2.625
‡ Unit vector of AB, nAB=AB/(/AB/)
‡ nAB=[0.8i + 1.5j-2k]/2.625
Vectorial representation of tension force, T
• Vector, T=/T/ * nAB
T=2.4*[0.3047 i + 0.571 j – 0.762 k] kN
Vector T= 0.731 i + 1.371 j – 1.829 k (kN),
• Moment arm, rOA=?
• Coordinate of O (0,0,0) &Coordinate of A(1.6,0,2)
• Vector OA= rOA=(1.6,0,2)=1.6 i+0 j+ 2 k (m)
✓ Moment about O, MO=rOAXT

This vector has a magnitude, /Mo/ 33

(Ans)
 2. Force systems…
3D System …
Example: The rigid pole and cross-arm assembly of example done previously is
shown again here. Determine the vector expression for the moment of the 1.2-
kN tension (a) about point O and (b) about the pole z-axis (c) about point B
Solution: Vector T is the same for all
cases but the moment arm is different
• Coordinate of point C(-1.5,0,4.5)
• Coordinate of point D(0,3,0)
• Vector CD=(1.5,3,-4.5) or
CD=1.5i + 3j-4.5k and
• mag. of CD
/CD/= 𝟏. 𝟓 ∗ 𝟏. 𝟓 + 𝟑 ∗ 𝟑 + −𝟒. 𝟓 ∗ −𝟒. 𝟓
/CD/= 𝟑𝟏. 𝟓=5.61
• Unit vector of CD, nCD=CD/(/CD/)
nCD=CD/(/CD/)=[1.5i + 3j-4.5k]/5.61
nCD=0.267 i + 0.535 j – 0.802 k
• Vector, T=/T/ * nCD
T=1.2*[0.267 i + 0.535 j – 0.802 k] kN
Vector T= 0.321 i + 0.641 j – 0.962 k kN,
34
 2. Force systems…
3D System …
Solution… (a) about point O
• Moment arm, rOC=? Using the Figure Coordinate of point O (0,0,0) &
that of point C(-1.5,0,4.5)
• Vector OC= rOC=(-1.5,0,4.5)= -1.5 i+0 j+ 4.5 k (m) 𝒊 𝒋 𝒌
✓ Moment about O, MO=rOCXT 𝐌𝒐 = −𝟏. 𝟓 𝟎 𝟒. 𝟓
MO=[-1.5 i+0 j+ 4.5 k ]X[0.321 i + 0.641 j – 0.962 k ]; 𝟎. 𝟑𝟐𝟏 𝟎. 𝟔𝟒𝟏 −𝟎. 𝟗𝟔𝟐

Mo=[(0∗(−0.962)−(0.641∗4.5)] i −[((−1.5)∗(−0.962))−(0.321∗4.5)] j +
[((-1.5)*0.641)-(0.321*0)]k=-2.885 i+0.0j -0.962 k (kNm) …..(Ans)

(b) about point Z-axis, MZ=-0.962 k (kNm) z-component of Mo

(c) about point B, MB=? • Moment arm, rBC=?

• Coordinate of point B (0,0,4.5) & of point C(-1.5,0,4.5)
• Vector BC= rBC=(-1.5,0,0)= -1.5 i+0 j+ 0 k =-1.5 i (m)

✓ Moment about B, MB=rBCXT 𝒊 𝒋 𝒌

MB=[-1.5 i ]X[0.321 i + 0.641 j – 0.962 k ] ; 𝐌𝑩 = −𝟏. 𝟓 𝟎 𝟎
𝟎. 𝟑𝟐𝟏 𝟎. 𝟔𝟒𝟏 −𝟎. 𝟗𝟔𝟐
MB=[(0∗(−0.962)−(0.641∗0)]i−[((−1.5)∗(−0.962))−(0.321∗0)]j+[((-1.5)*0.641)-(0.321*0)]k
= -1.443 j -0.962 k (kNm) …..(Ans) 35
 2. Force systems…
3D System …
Couples in Three Dimensions
♠A couple is the combined moment of two equal, opposite, and non-collinear forces.
♠The unique effect of a couple is to produce a pure twist or rotation regardless of where
the forces are located.
♠Figure 2/25 shows two equal and opposite forces F and -F acting on a body. The vector
r runs from any point B on the line of action of -F to any point A on the line of action of
F. Points A and B are located by position vectors rA and rB from any point O. The
combined moment of the two forces about O is

However, rA - rB =r, so that all reference to the

moment center O disappears, and the moment of the
couple becomes
Thus, the moment of a couple is the same about all points. The
magnitude of M is M =Fd, where d is the perpendicular distance
between the lines of action of the two forces, as described above.
The moment of a couple is a free vector, whereas the moment of
a force about a point (which is also the moment about a defined
axis through the point) is a sliding vector whose direction is along
the axis through the point 36
 2. Force systems…
3D System …
Example: A force of 40 lb is applied at A to the handle of the control lever which is attached to the
fixed shaft OB. In determining the effect of the force on the shaft at a cross section such as that at O,
we may replace the force by an equivalent force at O and a couple. Describe this couple as a vector M.

Solution:-

The couple vector is perpendicular to the plane in which the force is shifted, and its sense is that
of the moment of the given force about O. The direction of M in the y-z plane is given by
37
 2. Force systems…
3D System …
Exercise: The two forces acting on the handles of the pipe
wrenches constitute a couple M. Express the couple as a vector.

r=BA=0.15i +0.5j+0k
F=-150k (N)
Mo=rXF

𝒊 𝒋 𝒌
A(0,0.25,0)
𝐌𝒐 = 𝟎. 𝟏𝟓 𝟎. 𝟓 𝟎
𝟎 𝟎 −𝟏𝟓𝟎
O
Mo =[0.5*(-150)-0] i-[0.15*(-150)-0] j+0k

B(-0.15,-0.25,0) Mo=-75 i + 22.5 j (Nm)….Answer

38
 2. Force systems…
3D System …
Resultant
♠We defined the resultant as the simplest force combination which can replace a given
system of forces without altering the external effect on the rigid body on which the
forces act. For example, for the Force system F1, F2, F3 . . . acting on a rigid body
shown in Figure (a). we may move each of them in turn to the arbitrary point O,
provided we also introduce a couple for each force transferred. Thus, for example, we
may move force F1 to O, provided we introduce the couple M1 =r1X F1, where r1 is a
vector from O to any point on the line of action of F1. When all forces are shifted to O in
this manner, we have a system of concurrent forces at O and a system of couple vectors
as in Figure (b). The concurrent forces added vectorially to produce a resultant force R,
and the couples may also be added to produce a resultant couple M

39
 2. Force systems… 40
3D System …
Resultant
♠The couple vectors are shown through point O, but because they are free vectors, they
may be represented in any parallel positions. The magnitudes of the resultants and their
components are

♠The point O selected as the point of concurrency for the forces is arbitrary, and the
magnitude and direction of M depend on the particular point O selected. The magnitude
and direction of R, however, are the same no matter which point is selected.
Parallel Forces: For a system of parallel forces not all in the same plane, the magnitude of the
parallel resultant force R is simply the magnitude of the algebraic sum of the given forces.
The position of its line of action is obtained from the principle of moments by requiring that r
XR = MO. Here r is a position vector extending from the force–couple reference point O to the
final line of action of R, and MO is the sum of the moments of the individual forces about O.
 2. Force systems…
3D System …
Resultant
✓ Wrench Resultant: When the resultant couple vector M is parallel to the resultant force R,
as shown in Fig. 2/29, the resultant is called a wrench.
✓ By definition a wrench is positive if the couple and force vectors point in the same
direction and negative if they point in opposite directions.

✓ A common example of a positive wrench is

found with the application of a screwdriver,
to drive a right-handed screw.

Fig. 2/29

✓ Any general force system as shown in Figure 2/30 (a) below may be represented by a
wrench applied along a unique line of action. This reduction is illustrated in Figure 2/30

41
 2. Force systems…
3D System …
Example 1
1. Determine the resultant of the force and couple system
which acts on the rectangular solid.

Solution: We choose point O as a convenient reference

point for the initial step of reducing the given forces to a
force–couple system.

The resultant force is

The sum of the moments about O is

N.B:-
✓ Since the force summation is zero, we conclude that the resultant, if it exists, must
be a couple.
✓ The moments associated with the force pairs are easily obtained by using the M =F*d
rule and assigning the unit-vector direction by inspection. In many three-dimensional
problems, this may be simpler than the M = r XF approach. 42
 2. Force systems…
3D System …
Example 2
2. Determine the resultant of the system of parallel forces which act
on the plate. Solve with a vector approach.
Solution: Transfer of all forces to point O results in the force–
couple system
• The resultant force R and Couple M about point O

The placement of R so that it alone represents the above force–

couple system is determined by the principle of moments in
vector form

From the equality of vectors we get

Solving gives x=-0.357 m and z = 0.250 m are the coordinates through which the line of action of R
must pass. The value of y can be any value, as permitted by the principle of transmissibility.
Thus, as expected, the variable y drops out of the above vector analysis.
43
 2. Force systems…
3D System …
Example 3
1. Determine the wrench resultant of the three forces
acting on the bracket. Calculate the coordinates of the
point P in the x-y plane through which the resultant
force of the wrench acts. Also find the magnitude of the
couple M of the wrench.

Solution:
• Calculate the resultant at origin O(0,0,0)
• Writing Forces as a vector
F1=20 i (lb) F2=40 j (lb) F3=40 k (lb)
(0,0,3)
F2 Resultant force R= F1+F2+F3
R=20i + 40j +40k (lb)
F1
/R/=60 lb
• Writing position vector of the
F3 (5,4,0) moment arm to the point of
(0,0,0) application of the forces
r1 =0, r2 =3k (in), r3 =5i +4j (in)
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 3D System …
2. Force systems…
R
• Mo=r1xF1 + r2XF2 +r3XF3

𝒊 𝒋 𝒌 𝒊 𝒋 𝒌 𝒊 𝒋 𝒌
𝐌𝒐 = 𝟎 𝟎 𝟎 + 𝟎 𝟎 𝟑 + 𝟓 𝟒 𝟎
𝟐𝟎 𝟎 𝟎 𝟎 𝟒𝟎 𝟎 𝟎 𝟎 𝟒𝟎 Mo

Mo = 𝟎 − 𝟏𝟐𝟎𝐢 + 𝟏𝟔𝟎𝐢 − 𝟐𝟎𝟎𝐣 = 𝟒𝟎𝐢 − 𝟐𝟎𝟎𝐣 (𝐥𝐛𝐢𝐧) Force-couple system

Mo R
▪ Convert the Force-couple system to the wrench system,
determine the parallel projection of the moment(Mll) in
the direction of R. & then the perpendicular
projection(MT) of the moment Mo.

𝑴𝒐 . 𝑹
Mll = R
/𝑹/𝟐
Mo .R=40*20+(-200*40)+0*40= -7200 R
𝑴𝒐 . 𝑹
Mll =
−𝟕𝟐𝟎𝟎
R= *[20i +40j+ 40k], Mll = -40i -80j -80k
/𝑹/𝟐 𝟔𝟎∗𝟔𝟎
Thus MT=M-Mll ; MT =[40i -200j] –[-40i -80j -80k]
MT=80i -120j +80k

45
 2. Force systems…
3D System …
R R
✓ To ignore MT, the resultant force R should be placed at
P(x,y,0) so that it make a couple that is equal to MT.
✓ Thus, rPXR=MT where rP= xi +yj +0k rP
𝒊 𝒋 𝒌 (x,y,0)
𝒙 𝒚 𝟎 = 80i -120j +80k
-R
𝟐𝟎 𝟒𝟎 𝟒𝟎
❖ 40yi -40xj +[40x-20y]k=80i -120j +80k

Solve 40y=80, y=2 in and -40x=-120, x=3 in

• R be locate at P(3,2,0)….Ans.
• Magnitude of the couple of the wrench,/Mll/

/Mll/= −𝟒𝟎 ∗ −𝟒𝟎 + −𝟖𝟎 ∗ −𝟖𝟎 + −𝟖𝟎 ∗ −𝟖𝟎

/Mll/=120 lbin…Ans. R
X=3``

y =2``

Mll
Wrench resultant(-ve wrench) …Ans.
46
 2. Force systems…
3D System …
Exercise
1) The concrete slab supports the six vertical
loads shown. Determine the x- and y-
coordinates of the point on the slab through
which the resultant of the loading system
passes.

2) The pulley wheels are subjected to the loads

shown. Determine the equivalent force–couple
system at point O.

47