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Engineering Mechanics

L6: Force Systems (3D Case)

Indian Institute of Technology Jodhpur

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3 Dimensional Force Systems

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RECTANGULAR COMPONENTS
Direction cosine representation 𝐹 = 𝐹 cos 𝜃 𝐹 = 𝐹 cos 𝜃
z

𝐹 = 𝐹 cos 𝜃

𝐹
𝐹 𝐤
y 𝐹= 𝐹 +𝐹 +𝐹
𝜃 𝜃

𝐹 𝐣
k
𝜃 𝐅 =𝐹 𝐢+𝐹 𝐣+𝐹𝐤
j
𝐹 𝐢
i
x
𝐅 = 𝐹 cos 𝜃 𝐢 + cos 𝜃 𝐣 + cos 𝜃 𝐤

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RECTANGULAR COMPONENTS

𝐅 = 𝐹 cos 𝜃 𝐢 + cos 𝜃 𝐣 + cos 𝜃 𝐤

z

𝐅 = 𝐹 𝑙𝐢 + 𝑚𝐣 + 𝑛𝐤

𝐹 𝑙 = cos 𝜃 𝑚 = cos 𝜃
𝐹 𝐤
y
𝑛 = cos 𝜃
𝜃 𝜃

𝐹 𝐣 𝑙 +𝑚 +𝑛 =1
k
𝜃 Force in terms of unit vector
j
𝐹 𝐢 𝐅 = 𝐹𝐧
i
x
Right handed set of axes 𝐧 = 𝑙𝐢 + 𝑚𝐣 + 𝑛𝐤
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Direction Specification by two points

z B (x2, y2, z2)
F

A (z2 – z1)
(x1, y1, z1)

𝐅 = 𝐹𝐧
y

(x2 – x1)
AB
x
𝐧 =
(y2 – y1) AB

𝑥 −𝑥 𝐢+ 𝑦 −𝑦 𝐣+ 𝑧 −𝑧 𝐤
𝐧 =
𝑥 −𝑥 + 𝑦 −𝑦 + 𝑧 −𝑧

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Direction Specification by two angles

z
𝐅 =𝐹 𝐢+𝐹 𝐣+𝐹𝐤
Fz
𝐹 = 𝐹 sin 𝜑

𝐹 = 𝐹 cos 𝜑
F

 𝐹 = 𝐹 cos 𝜃 = 𝐹 cos 𝜑 cos 𝜃

Fy
 y
Fx
𝐹 𝐹 = 𝐹 sin 𝜃 = 𝐹 cos 𝜑 sin 𝜃
x

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Dot Product
P 𝐏. 𝐐 = (𝑃 cos 𝛼)𝑄

𝐏. 𝐐 = 𝑃𝑄 cos 𝛼


z Projection of F along x
Q

𝐅. 𝐢 = 𝐹 cos 𝜃
𝐹
𝐹 𝐤
y

𝜃 𝜃
𝐹 𝐣
k
𝜃
j
𝐹 𝐢
i
x
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Projection of Force (F)

Projection of F along the axis defined by unit vector n

𝐅 = 𝐹 𝑙𝐢 + 𝑚𝐣 + 𝑛𝐤 𝐧 = 𝛼𝐢 + 𝛽𝐣 + 𝛾𝐤
F

𝐹 = 𝐅. 𝐧 = 𝐹 𝑙𝐢 + 𝑚𝐣 + 𝑛𝐤 . 𝛼𝐢 + β𝐣 + 𝛾𝐤
n (unit vector)
𝐹 = 𝐹 𝑙𝛼 + 𝑚𝛽 + 𝑛𝛾
Since
𝐢. 𝐢 = 𝐣. 𝐣 = 𝐤. 𝐤 = 1
𝐢. 𝐣 = 𝐣. 𝐢 = 𝐢. 𝐤 = 𝐤. 𝐢 = 𝐤. 𝐣 = 𝐣. 𝐤 = 0

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Angle between Two Vectors

P
𝐏. 𝐐 = 𝑃𝑄 cos 𝛼

𝐏. 𝐐
𝜃 = cos
𝑃𝑄
P
This also true for P

Q

𝐅. 𝐧
𝜃 = cos
𝐹

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Moment in 3 Dimensions
MO
𝐌 =𝐫 × 𝐅

r

O 𝐫: vector from O to any point on line of action of F
A d

F MO

 r

A O

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Evaluating the Cross Product

F 𝐌 =𝐫 × 𝐅
F z

𝐢 𝐣 𝐤
z
𝐌 = 𝑟 𝑟 𝑟
A Fy
Mz
𝐹 𝐹𝒚 𝐹
rz y Fx
r 𝐌 = 𝑟 𝐹 −𝑟 𝐹 𝒊+
My
rx 𝑟𝐹 −𝑟 𝐹 𝒋+ 𝑟 𝐹 −𝑟 𝐹 𝒌
O ry
𝑀 = 𝑟 𝐹 −𝑟𝐹
x
Mx
𝑀 = 𝑟𝐹 −𝑟 𝐹

𝑀 = 𝑟 𝐹 −𝑟 𝐹
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Moment about an Arbitrary Axis

 𝐌 = [ 𝐫 × 𝐅). 𝐧 ]𝐧
MO
n
F
M

Triple Scalar product

r

O 𝑟 𝑟 𝑟
𝐌 =𝑀 = 𝐹 𝐹𝒚 𝐹
𝛼 𝛽 𝛾

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Varignon’s Theorem in Three Dimensions

𝐫×𝐅 +𝐫×𝐅 +𝐫×𝐅 +⋯
= 𝐫× 𝐅 +𝐅 +𝐅 +⋯
= 𝐫 × Σ𝐅
F3

F2

𝐌 =Σ 𝐫×𝐅 =𝐫×𝐑

A F1
O r

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Couples in Three Dimensions

𝐌 = 𝐫 × 𝐅 + 𝐫 × −𝐅
M
d

𝐌 = 𝐫 −𝐫 ×𝐅
–F F

B r 𝐌 =𝐫×𝐅
A

𝐫: vector from any point on line of action of -F

to any point on line of action of F
rA
rB

Note: The moment of a couple is a free vector, whereas

O the moment of a force about a is a sliding vector whose
direction is along the axis through the point.

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Summation of Couples
M1 M

–F1 M1
F1

F2 M2 F
M2

–F

–F2

All rule of vector addition apply

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Force–couple system in D

𝐌 =𝐫×𝐅
F F

F F
 A 
A r
B B B

–F Equivalent System
Original System

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Example 1
A tension T of magnitude 10 kN is applied to the cable attached
to the top A of the rigid mast and secured to the ground at B.
Determine the moment Mz of T about the z-axis passing
through the base O.

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Example 1

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Resultant
M2 M3 Equivalent System
Original System
M
F1 F1
M1 R
F2 F2

O  O

O
F3
F3

𝐑 = 𝐅 + 𝐅 + 𝐅 + ⋯ = Σ𝐅 𝐌 = 𝐌 +𝐌 +𝐌 +⋯ = Σ 𝐫×𝐅

𝑅 = Σ𝐹 𝑀 =Σ 𝐫×𝐅 𝑀 =Σ 𝐫×𝐅
𝑅 = Σ𝐹
𝑅 = Σ𝐹 𝑀 =Σ 𝐫×𝐅

𝑅= Σ𝐹 + Σ𝐹 + Σ𝐹 𝑀= 𝑀 +𝑀 +𝑀

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Special Cases
Concurrent Forces
No moments about the point of concurrency.
Parallel Forces.
Magnitude of the parallel resultant force R is simply
the magnitude of the algebraic sum of the given
forces.
Coplanar Forces.
Similar to 2D cases

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Wrench Resultant
When the resultant couple vector M is parallel
to the resultant force R, the resultant is called a
wrench

R
R M
M

Positive wrench Negative wrench

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Wrench Resultant
M M

M1
M2 R
M1
R R R
d
  O
O
O
–R
(c)
(a) (b)


Original System
R
O

(d)
M1
Equivalent System
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Example 2
Replace the two forces and the negative wrench by a single
force R applied at A and the corresponding couple M.

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Example 2

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References :

Thanking you
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