Statics Equation Sheet

Chapter 4: Moments of a Force Chapter 7: Internal Forces and Moments

a x2 + b x + c = 0,
√
−b ± b2 − 4 a c The moment of F󰂓 about point A In two-dimensions:
x=
2a
󰂓 A = 󰂓r × F󰂓 ,
M |MA | = d⊥ F N = Normal Axial Force
2π rad ↔ 360◦ V = Transverse Shear Force
sin θa sin θb sin θc where 󰂓r is a position vector from P to any M = Bending Moment
= = point on the line of action of F󰂓 .
a b c
dV dM
c2 = a2 + b2 − 2ab cos θc MA = (F r) sin ϕ = F (r sin ϕ) = F d⊥ , = −w, =V
dx dx
θa + θb + θc = π (180◦ ) MA = (F r) sin ϕ = (F sin ϕ)r = F⊥ r,
d2 M
󰀓 󰀔 = −w(x)
b Opposite 󰂓 A = 󰂓r × F󰂓1 + F󰂓2 dx2
sin θ = = M
c Hypotenuse Concentrated force P ,
a Adjacent = 󰂓r × F󰂓1 + 󰂓r × F󰂓2 shear discontinuity (jump):
cos θ = =
c Hypotenuse
b Opposite
Moment about a line: V + − V − = −P
tan θ = =
a Adjacent 󰂓P
MAB = λ̂AB · M Concentrated couple MC ,
= λ̂AB · (󰂓r × F󰂓 ) moment jump:
sin(α ± β) = sin α cos β ± cos α sin β
cos(α ± β) = cos α cos β ∓ sin α sin β = |MP | cos θ M + − M − = −MC
W = mg 󰀏 󰀏
󰀏 λx λy λz 󰀏 In three-dimensions:
󰀏 󰀏
g = 32.2 ft/sec2 = 9.81 m/sec2 MAB = 󰀏 rx ry rz 󰀏
󰀏 F Fy Fz 󰀏 Nx = Axial Force
x
kg·m lb Vy = Shear Force in y-direction
N= , slug =
sec2 (ft/ sec2 ) Equivalent Force-Couple System: Vz = Shear Force in z-direction
󰁛 Tx = Torque about the x-axis
󰂓 =
R F󰂓 ,
Units for moment of a force 󰁛 My = Moment about the y-axis
󰂓O =
M 󰂓O
M Mz = Moment about the z-axis
U.S. Customary SI
󰁛 󰁛
ft · lb or in. · lb N·m = (󰂓r × F󰂓 ) + 󰂓 Couples
M Distributed loads w(x):
󰁝
Chapter 2: Force Vectors Equivalent Systems: F = w(x) dx
L
󰁛 󰁝
󰂓 =
R F󰂓 , F󰂓 = F λ̂ 󰀓󰁛 󰀔 󰀓󰁛 󰀔
F󰂓 System = F󰂓 System F x̄ = M = x w(x) dx
󰂓rA→B 1 2 L
λ̂AB = 󰀓󰁛 󰀔 󰀓󰁛 󰀔
|󰂓rA→B | 󰂓P
M = 󰂓P
M Effect of w(x) is statically equivalent to
System System resultant F at position x̄.
∆x ı̂ + ∆y ȷ̂ + ∆z k̂ 1 2
=󰁴
2 2 2 Chapter 5: Equilibrium of Rigid Bodies Chapter 8: Friction
(∆x) + (∆y) + (∆z)
󰁛 󰁛
F󰂓 = 0, and 󰂓P = 0
M
λ̂AB = cos θx ı̂ + cos θy ȷ̂ + cos θz k̂ Ff ≤ (Ff )max static = µs FN
λ̂AB = sin θy cos φ ı̂ + cos θy ȷ̂ 󰁛
ı̂ : Fx = 0 If at the max limit, on the verge of sliding
+ sin θy sin φ k̂ 󰁛 and impending motion,
ȷ̂ : Fy = 0
cos2 θx + cos2 θy + cos2 θz = 1 󰁛 Ff = µ s FN
k̂ : Fz = 0
F󰂓 = Fx ı̂ + Fy ȷ̂ T2
Belt Friction: = eµβ
= F cos θ ı̂ + F sin θ ȷ̂ 󰁛 T1
= F ∡θ ı̂ : Mx = 0 Spring Forces and Torques
󰁛
ȷ̂ : My = 0 Fs = kL (L′ − L)
Chapter 3: Equilibrium of Particles
󰁛
󰁛 󰀓󰁛 󰀔 k̂ : Mz = 0 Ms = kθ (θ′ − θ)
F󰂓 = Fx ı̂
󰀓󰁛 󰀔 Chapter 11: Virtual Work
2D Planar:
+ Fy ȷ̂
󰁛 δU = δ󰂓u · F󰂓 + δ θ󰂓 · M
󰂓 =0
󰀓󰁛 󰀔 → Fx = 0
+ Fz k̂ = 󰂓0 󰁛 Virtual Power:
󰁛 ↑ Fy = 0
ı̂ : Fx = 0 󰁛 δV = δ󰂓v · F󰂓 + δ󰂓 󰂓 =0
ω·M
MP = 0
↷

󰁛
ȷ̂ : Fy = 0
󰁛 Reaction forces prevent translation; Author: Dr. Lonny L. Thompson,
k̂ : Fz = 0 Reaction moments prevent rotation Clemson University
Cross (Vector) Products Dot (Scalar) Products Chapter 9: Center of Mass and Gravity
n
󰁛 󰁝
1. 󰂓u × 󰂓v = −󰂓v × 󰂓u 󰂓u · 󰂓v = |󰂓u||󰂓v | cos θ
m= mi = dm
where θ is the angle between 󰂓u and 󰂓v . i=1 m
2. a(󰂓u × 󰂓v ) = (a󰂓u) × 󰂓v = 󰂓u × (a󰂓v ), and
1. 󰂓u · 󰂓v = 󰂓v · 󰂓u n
󰁛 󰁝
3. 󰂓u × (󰂓v + w)
󰂓 = 󰂓u × 󰂓v + 󰂓u × w󰂓 m x̄ = x̄i mi = x dm
2. a(󰂓u · 󰂓v ) = (a󰂓u) · 󰂓v = 󰂓u · (a󰂓v ), and i=1 m

ı̂ 3. 󰂓u · (󰂓v + w)
󰂓 = 󰂓u · 󰂓v + 󰂓u · w
󰂓 n
󰁛 󰁝
− − m ȳ = ȳi mi = y dm
+ + Since ı̂, ȷ̂, and k̂ are mutually orthogonal: i=1 m

n
󰁛 󰁝
ı̂ · ı̂ = 1 ı̂ · ȷ̂ = 0 ı̂ · k̂ = 0 m z̄ = z̄i mi = z dm
ȷ̂ + k̂
m
ȷ̂ · ı̂ = 0 ȷ̂ · ȷ̂ = 1 ȷ̂ · k̂ = 0 i=1

− k̂ · ı̂ = 0 k̂ · ȷ̂ = 0 k̂ · k̂ = 1 For center of gravity, change “m” to weight

ı̂ × ı̂ = 󰂓0 ı̂ × ȷ̂ = k̂ ı̂ × k̂ = −ȷ̂ 󰀓 󰀔 “W ”. For the centroid of a volume or line,
󰂓u · 󰂓v = ux ı̂ + uy ȷ̂ + uz k̂ change “m” to “V ” or “L”, respectively.
ȷ̂ × ı̂ = −k̂ ȷ̂ × ȷ̂ = 󰂓0
ȷ̂ × k̂ = ı̂
󰀓 󰀔
k̂ × ı̂ = ȷ̂ k̂ × ȷ̂ = −ı̂ k̂ × k̂ = 󰂓0 · vx ı̂ + vy ȷ̂ + vz k̂ Chapter 10: Mass Moment of Inertia
󰀏 󰀏 󰁝
󰀏 ı̂ ȷ̂ k̂ 󰀏󰀏 = ux v x + uy v y + uz v z
󰀏 I = k2 m = r2 dm
󰂓 = 󰂓r × F󰂓 = 󰀏 rx ry rz 󰀏
M m
󰀏 󰀏
󰀏 F F F 󰀏 Chapter 9: Centroids of Areas
z y z Parallel Axis Theorem:
󰀏 󰀏 󰁝
󰀏 ry rz 󰀏 n
󰁛
=󰀏 󰀏 󰀏 ı̂ I = I¯ + md2⊥
Fy Fz 󰀏 A= Ai = dA
󰀏 󰀏 i=1 A
󰀏 rx rz 󰀏 d⊥ = perpendicular distance
− 󰀏󰀏 󰀏 ȷ̂ n
󰁛 󰁝 between parallel axes.
Fx Fz 󰀏 A x̄ = x̄i Ai = x dA
󰀏 󰀏 1
󰀏 rx ry 󰀏 i=1 A
+󰀏 󰀏 󰀏 k̂ Ibar = mℓ2 , m = ρAℓ
F F 󰀏 n
󰁛 󰁝 12
x y
A ȳ = ȳi Ai = y dA
= (ry Fz − rz Fy ) ı̂ A Thin plate with surface area A:
i=1
− (rx Fz − rz Fx ) ȷ̂
Ix-axis = ρtz Ix
+ (rx Fy − ry Fx ) k̂ Chapter 10: Area Moment of Inertia
󰁝 Iy-axis = ρtz Iy
In 2D plane: Ix = kx2 A = y 2 dA
A
Iz-axis = ρtz J0 = ρtz (Ix + Iy )
󰂓 = (rx ı̂ + ry ȷ̂) × (Fx ı̂ + Fy ȷ̂)
M 󰁝
where Ix , Iy , J0 are area moments of inertia.
󰂓 = (Fy rx − Fx ry ) k̂ Iy = ky2 A = x2 dA
M A
󰁝
M = (Fy fx − Fx ry )
↷

JO = k02 A = r2 dA = Ix + Iy
󰀥 󰀦 󰀥 󰀦󰀥 󰀦 A
Mx 0 −z y Fx Prefix Abbreviation Multiple
My = z 0 −x Fy Radius of gyration:
Mz −y x 0 Fz 󰁴 nano n 10−9
󰀥 󰀦 kx , ky , k0 = kx2 + ky2 micro µ 10−6
yFz − zFy
= zFx − xFz milli m 10−3
xFy − yFx 1 3 1 4 kilo k 103
Irect = bh , Icircle = πr mega M 106
12 4
Coordinate Rotations giga G 109
I = I¯ + A d2⊥
d⊥ = perpendicular distance
x′ = x cos θ + y sin θ between parallel axes.
y ′ = −x sin θ + y cos θ. u

󰂓u = ux ı̂ + uy ȷ̂ = ux′ ı̂′ + uy′ ȷ̂′

ux′ = ux cos θ + uy sin θ

u
uy′ = −ux sin θ + uy cos θ

Author: Dr. Lonny L. Thompson,

Clemson University