Cross product a = Cross product, A x B, “A cross B” = Result of cross product is a vector (vector product of vectors) = C=AXxB=(ABsin 0) u, — Magnitude: AB sin 6 See cecum cours (el mR UC Reo lie We Rey specified by the right-hand rule (curling the fingers of the right hand from A (cross) to B, the thumb points in the direction of the u,) = Laws of operation — Commutative law is not valid: Ax B#BxA,AxB=-BxA — Multiplication by a scalar: a (A x B) = (a A) x B = Ax (aB) = (Ax =>) — Distributive law: A x (B + D) = (Ax B) + (Ax D)ATO Tat -CirToice) ma cela] a o a k i ed j % 7 a RF F Li eed Ua em Cr ie) a (Pea LSMoment of a force Se = The moment of a force about a point or axis provides a measure of the tendency of the force to cause a body to rotate about the point or axis = Sometimes called “torque” but most often called “moment of a force” or simply the momentCartesian vector formulation ac ix i = (1)(1) sin 0° = (1)(1)(0) = 0 m= ixj=(1)(1) sin 90° = (1)(1)(1), direction by right-hand rule, k (SHOW) m ixk=(1)(1) sin 90° = (1)(1)(1), direction by right-hand rule, -j Psy nnn ixi=0 jxi=-k kxi=j ixj=k jxj=0 kxj=-i riot kxk=0Cross product of two general vectors a AxB = (Aj + Aj + Ajk) x (Bi + B,j + Bk) = AB, (i xi) + A,B, (1x j) + A.B, (ix k) + A,B, (jx i) + AB, xj) + AyB, Gx k) + A,B, (k x i) + A,B, (k xj) + ALB, (k x k) = A,B, (0) + A,B, (k) + A,Bz (-) + A,B, (-k) + A,B, (0) + A,B, (i) + A,B, (j) + A,B, (-i) + A,B, (0) = (AB, — A,B,)i + (A,B, — A,Bz)j + (A,B, — AyB,)k, or = (AB, — A,B,)i - (A,Bz- A,B,)j + (A,B, — A,B,)k Cie Peleus) alla (0)Determining the moment of a force (2-D scalar form) = ~The magnitude of the moment Mo of a force F about a point O is F d, where d is the perpendicular distance from O to the line of action of DeNiro Wei e) 0 = The larger the force F, or the greater the distance d, the more pronounced the effect = The direction of Mo is specified using the “right-hand rule” — the fingers of the right hand are curled such that they follow the sense of rotation (if the force could rotate about the point O), the thumb then points along the moment axis = The moment of a force will be positive if it is directed along the +z axis and negative if it is directed along the —z axis a If the line of action of the force, F, passes through the point, O, d=0 = no moment produced about O — no tendency for rotation possible PRS ae MoM Ce MNe ieee ce-ia (RL |emie) = Can determine the sum of the moments of a system of forces about a point if the forces are 2-D (coplanar) and the point lies in the same PER UCR aout e seco ller-lec-le- Nace] Mealy moment vectors are collinear)Principle of Moments (UET at Tired mm ile) a = The moment of a force about a point is equal to the sum of the moments of the force’s components about the point (SHOW) Lie (a mC a 2) ad a(t) Pa CVO Rca Keer)Moment of a force (vector form) = M, =rxF, where ris the position vector from O to any point imal Royle eo = Magnitude of Mp: Mo =r F sin @ = (rsin@) F=d Foo = Direction of Mg follows the right-hand rule as it applies to the cross product, “r cross F” — extending r along its line of action, the fingers of right hand are curled such that they follow the sense of rotation — the thumb then points along the moment axis — giving the direction of the moment vector m Result does not depend on where r intersects the line of Floto) Ke) eal rt a ted Cry We 1) eid YW Fea ae) Ue TA1Ut1 1 aCe | nCe eC) | r=] (OM any point along its line of action and still create the same moment about point O = A moment is denoted with a circular arrow around the vector (a curl) SHOWMoment of a force about a line (scalar analysis) PMD ebeit21 9) cele occ} Cie ico o)gee ema Mt Reet OM Ca eke emg oe [aL 0) any specified axis aa, the magnitude of the moment of F about the axis can be determined from M, = F d,, where d, is the perpendicular or shortest distance from the force line of action to the ro diMoment of a force about a line (vector analysis) CMe) 1-1 Peas SL Ce -1- OS CaO vector along aa’ = Substituting My = r x F in above, M, = u, - (r x F) = Can write M, = u,: My = u,: (x F) asa triple scalar product oa - a i ae ed if ‘oF fb PAR] TV Re CACM Leta n Mar Te allele RL Roa ome ecret(ol gel M.,. If M, is positive, M, will have the same sense as u,, and if M, is negative, then M, will act opposite to u,. = Expressing M, as a Cartesian vector, M, = M, u, = [u, - (rx F)] u, CCN ek (ee yeas EA)Special cases that occur a Pm Cols eerie mice cee cece) eke) = Coplanar forces represented by a force = Parallel forces represented by a forceTE ey Se = Asystem of forces and couple moments can be represented by a single force acting at a given point and a single couple moment = To do so it is necessary that the force and couple moment system produce the same "external" effects of translation and rotation of the body as their resultants = Two systems of forces and couple moments (system 1 and system 2) are equivalent if: AtaToRSU i Me) UaleMelCectM-lC M6] 01- | ea Dene and the sums of the moments about a point P are equal, (od eas) = EXAMPLES (pg 167 - 169)Moment of a couple (scalar formulation) a = The moment of the couple M is defined as having a magnitude of M = Fd Le CR UMUC s (MOLAR CeLKeoc) dis the perpendicular distance or moment arm between the forces = The direction and sense of the couple moment are determined by the right-hand rule (where the thumb indicates the direction when the fingers are curled with the sense of rotation caused by the two forces — M acts perpendicular to the plane containing the two forces)PWeey to) (-) a = Acouple consists of two forces that have equal magnitudes, same directions, but opposite senses = Parallel, distinct lines of action S'10\ = The resultant force is zero, the only effect is to produce a rotationRepresenting a system by a wrench fo MMI UK nome at 1M ta Melon areola ole ee) alae lale Red parallel component M,. The point P must be chosen so that the CuO sLeLel ak ee MACS M, (SHOW) m EXAMPLES (pg 179 — 182)Moment of a couple (vector formulation) a = Acouple moment: is equal to the sum of the moments of both couple forces determined about any arbitrary point O in space SHOW eae ois hag ee ea ea M = (rg + -ra) X F = (tg—ty) XF=rxF = Acouple moment is a free vector — it can act at any point, since M only depends on r, not Fy or rg = ris directed from any point on the line of action of one of the forces to any point on the line of action of the other force = EXAMPLES (pg 155 - 159)Location of the Resultant Force for a Simple Distributed Loading = Location of filto the line of action of F, can be determined by equating the moments of the force resultant and the force distribution about point O frwarde fxaa Jona 1 1. faa = The resultant force has a line of action which passes through the centroid C (the geometric center) of the area defined by the distributed-loading diagram w(x) = Often the distributed-loading diagram is in the shape of a rectangle, triangle, or some other simple fel-Tolu legen celui) a EXAMPLES (pg 189 - 192)Simple Distributed Loading = Plate supports the loading over its surface Loading function, p = p(x) (Pa), is only a function of Pane MUL Me MCMC] (ene MURR Ab Ay = Multiply p = p(x) by the width a (m) of the plate, w = p(x) (N/m?) a (m) = w(x) (N/m) = dF is acting on an infinitesimally thin element of width dx, dF = w(x) dx (= dA, in terms of the “area” A under the curve) = Can replace this coplanar parallel force system with a single equivalent resultant force w(x)dx= [dA=A Ca Mantle] aleve Melman Maciel el Nm (ee mM e0T-| Komal total area A under the loading diagram w=w(x)