Moments in 3d

4.
2 Moments in Three-Dimensional Force Systems

4.2 Moments in Three-Dimensional Force Systems Example 1, page 1 of 3
1. Use the cross-product definition of the moment of a force to determine the
moment of the force about point A. Also, compare the sign of the result with
that obtained from the scalar definition of positive moment, M = Fd.
+
y
F = 50 N 200 mm
30° HEAVY DUTY 250 MM

CHINA
x
A
B
1 Introduce a position vector rAB 2 Express the force in rectangular components.

with tail at A and head at B. y
y
F = 50 N (50 N) sin 30° = 25 N
200 mm
B 30°
CHINA HEAVY DUTY 250 MM
x x
A (50 N) cos 30° = 43.30 N
F = {43.30i 25j} N (1)
rAB = { 200i} mm
z z
3 Use the vector cross product to compute the moment
about point A.
5 A memory aid for cross products:
MA = rAB F
j
= { 200i} mm {43.30i 25j} N i
= [ 200(43.30) i i + ( 200)( 25) i j ] N·mm

= 0, because cross = k, by the right-hand rule k
product of parallel
vectors is zero Assign a plus sign if the product is in
the order indicated by the arrowheads;
minus sign otherwise
4 Apply the i j = +k
right-hand rule.
j j from i to j
i
k i
i k= j
k
fingers of right hand
curl from i to j
6 MA = ( 200 mm)( 25 N)k

thumb points out
of i-j plane = {5000k} N·mm
= {5k} N·m Ans.

7 Display the MA vector (a double-headed arrow)
y
50 N

CHINA
x
A
z MA = {+5k} N·m
direction of fingers
thumb points
out-of-plane 8 The 50-N force tends to rotate the
wrench counterclockwise about
the axis (through A) defined by
y the unit vector k. By the Ans.
right-hand rule, this definition of
50 N positive moment reduces to the
usual sign convention for positive
moment in coplanar problems.
CHINA
x
k A
MA = {+5k} N·m
+
z
2. A force F = 20 N is applied to the end of a string of length L. The other end of
the string is tied to the handle of a wrench as shown. Use the cross-product
definition of the moment to determine the moment of F about point A. Discuss the
effect of distance L on your answer.
y
200 mm
L
HEAVY DUTY 250 MM
CHINA
x
30° A
B
C
F = 20 N z
1 Introduce a position vector rAC

with head at C and tail at A.
y
B
HEAVY DUTY 250 MM
CHINA
x
30° A
rAC
C
F = 20 N z
2 Determine the rectangular components of rAC.
y rAC = (L cos 30° + 200 mm)i (L sin 30°)j (1)

3 5
L cos 30° 200 mm

B HEAVY DUTY 250 MM
CHINA
x
4 L sin 30° 30° A
rAC
C L
6 Determine the rectangular y

components of the force F
x
C
30°
F = 20 N
z F = (20 N) cos 30° i (20 N) sin 30° j (2)
7 Use the cross product to compute the moment.
MA = rAC F
= {( L cos 30° 200)i L sin 30° j} mm { 20 cos 30° i 20 sin 30° j} N
= [( L cos 30° 00)( 20 cos 30°)(i i)
=0 j
i
+ ( L cos 30° 00)( 20 sin 30°)(i j)
=k k
+ ( L sin 30° )( 20 cos 30°)(j i)
= k
+ ( L sin 30°)( 20 sin 30°)(j j) ] N·mm
=0
= k[( L cos 30° 200)( 20 sin 30°) ( L sin 30°)( 20 cos 30°)] N·mm
= k[( L cos 30°)( 20 sin 30°) 200( 20 sin 30°)

( L sin 30°)( 20 cos 30°)] N·mm
The terms involving L drop out
= {2000k} N·mm = {2k} N·m Ans.

8 Discussion: Distance L does not appear in the answer

for MA. Thus the result is valid for all values of L,
and so the head of the position vector can be located
anywhere (for example, points 1, 2, 3, or C in the
figure) on the line of action of the force.
Note: All position vectors

and force vectors are in
the xy plane. y
1
rA1 Ans.
2 rA2
B HEAVY DUTY 250 MM
CHINA
x
30° A
C
30° rAC
F
3 rA3 z
3. A shower/bathtub grab bar is being pulled by a force F = 30 lb as
shown. Determine the moment of F about the support A. Also determine
the coordinate direction angles of the moment vector and interpret the
result.
5 in.
y
16 in.
40° 8 in.
B
x
A
60°
F = 30 lb
z
1 Introduce a position vector with tail at A and head at B.
rAB = { 16i + 8j + 5k} in. (1)
5 in.
y
16 in.
40° 8 in.
B x rAB
60°
F = 30 lb
z
2 Determine the rectangular

components of the force F.
y
6 Fx = (30 lb)(sin 60°)(cos 40°)
= 19.90 lb (4)
5 Fz = (30 lb)(sin 60°)(sin 40°)

40°
= 16.70 lb (3) x
4 (30 lb) sin 60° 60°

7 Component form of F,
from Eqs. 2-4:
F = 30 lb F = { 19.90i 15j + 16.70k} lb (5)
z
3 Fy = (30 lb) cos 60°
= 15 lb (2)
8 Calculate the moment. 9 Because both vectors each have three non-zero
components, evaluating the cross products is
MA = rAB F easier if we use the determinant form.
= { 16i + 8j + 5k } { 19.90i 15j + 16.70k}

i j k
MA = 16 8 5
19.90 15 16.70
10 Expand the determinant in terms of the first row,

remembering to insert the minus sign for the j term.
8 5 16 5 16 8
MA = i j +k
15 16.70 19.90 16.70 19.90 15
= i[8(16.70) 5( 15)] j[ 16(16.70) 5( 19.90)] + k[ 16( 15) 8( 19.90)]
= {208.6i +167.7j + 399.2k} lb·in. Ans.

11 Observation: The above procedure is tedious and error prone. A much
better approach is to use a calculator with a built-in function for evaluating
the cross product of two vectors. If such a calculator is available, all you
need to do is enter the components of the vectors and then let the calculator
perform the arithmetic. As a result, typical errors such as missing a minus
sign or mis-copying a number from one line to the next are avoided.
To determine the coordinate direction angles, first determine the

magnitude of the moment.
MA = (208.6)2 + (167.7)2 + (399.2)2
= 480.6 lb·in.
Coordinate direction angles
MA x
= cos-1 = cos-1 208.6 = 64.3° Ans.
MA 480.6
MA y
= cos-1 = cos-1 167.7 = 69.6° Ans.
MA 480.6
MA z
= cos-1 = cos-1 399.2 = 33.8° Ans.
MA 480.6
5 in.
y
Axis of rotation
16 in.
40° 69.6°
B
x 64.3° MA = 480.6 lb·in.
A
33.8°
60°
F = 30 lb
12 Interpretation: The force F = 30 lb
z produces a moment of 480.6 lb·in. about Ans.
point A. This moment tends to rotate the
grab bar about an axis defined by the
moment vector.
4. A force F = 15 N acting parallel to the z axis is applied to the
handle of a socket wrench to turn a bolt at A. Determine the
moment of the force about the point A. Also, state which
component of the moment tends to turn the bolt.
y
80 mm
x
C
A
z
100 mm
F = 15 N
y
1 Introduce a position vector 80 mm

with head at B and tail at A.
rAB = {80i 100j} mm
x
C
A
z
rAB 100 mm
2 Calculate the moment.
MA = rAB F
(F points in negative z-direction.) B
= (80i 100j) { 15k}
F = 15 N
= 80( 15)(i k) + ( 100)( 15)(j k)
= j =i
= ( 1200)( j) + (1500)i
j
= {1500i + 1200j} N·mm i
= {1.5i + 1.2j} N·m Ans.

k
3 Display the moment vector.
y
80 mm
MA
MAy = 1.2 N·m
x
C
A MAx = 1.5 N·m
z
100 mm
4 The component that tends to

rotate the shaft AC of the
wrench about the x axis B
(and thus turn the bolt) is
15 N
MA x = 1.5 N·m Ans.
5. Pulley B is used to drive pulley C. Determine the resultant
moment about bearing A produced by the belt forces acting on
pulley B. Also, interpret your result.
y Q = 55 N
30° F
Radius = 70 mm
A
B D
C x
z
Belt forces
E
P = 30 N
40 mm
1 Introduce position vectors with y Q = 55 N
tails at A and heads at E and F.
30° F
rAF Radius = 70 mm
A
B D
C x
rAE
z
Belt forces
E
2 From the figure,
P = 30 N rAE = {40i 70j} mm (1)

40 mm
y
Q = 55 N
30° F
Radius = 70 mm
A rAF
C B D
x
z rAE
Belt forces
E
P = 30 N
3 To determine the components of rAF, consider a
40 mm view of the pulley from the positive x axis:
6 rAFz = (70 mm) cos 60° = 35 mm (3)

Q = 55 N
7 In component form, from Eqs. 2 and 3, y
4 Angle = 90° 30° = 60°
rAF = {40i + 60.62j 35k} mm (4) 30°
F
5 rAFy = (70 mm) sin 60°
z = 60.62 mm (2)
B
P = 30 N Radius = 70 mm
y Q = 55 N
30° F
rAF Radius = 70 mm
A
B D
C x
rAE
z
Belt forces
E
8 Express the forces in rectangular

P = 30 N components.
40 mm Q = (55 N) sin 30°j + (55 N) cos 30°k
= {27.5j + 47.63k} N (5)
P = {30k} N (6)
9 Calculate the resultant moment.
MA= rAF × Q + rAE × P
i j k i j k
MA = 40 60.62 35 + 40 70 0
0 27.5 47.63 0 0 30
60.62 35 40 35 40 60.62
=i j +k
27.5 47.63 0 47.63 0 27.5
70 0 40 0 40 70
+i j +k
0 30 0 30 0 0
= i[60.62(47.63) ( 35)(27.5)] j[40(47.63) ( 35)(0)] + k[40(27.5) 60.62(0)]
+ i[ 70(30) 0(0)] j[40(30) 0(0)] + k[40(0) 70)(0)]
= {1750i 3105j + 1100k} N·mm
= {1.750i 3.105j + 1.100k} N·m Ans.

y 55 N
30° Mx = 1.750 N·m
B
A
C x
z
Belt forces
10 The magnitude of the moment is 30 N

40 mm
MA = (1.750)2 + ( 3.105)2 + (1.100)2
= 3.73 N·m
11 Interpretation: The belt forces acting on pulley B tend to

rotate the entire structure with a 3.73 N·m moment about an
axis defined by the direction of the moment vector MA. Ans.
The 1.750 N·m x component of MA is the component of
moment that rotates the shaft and drives pulley C.
6. A child on a bicycle collides with a mailbox and
exerts the force F shown. If the base of the pole at O
will fail if the magnitude of the moment there exceeds
60 N·m, determine if the mailbox will fall over.
y
F = {80i + 12j 10k} N
900 mm
z 250 mm 75 mm x
y
F = {80i + 12j 10k} N
1 Introduce a position vector with tail at O and
head at A.
rOA = {250i + 900j + 75k} mm

A
MO = rOA × F rOA
900 mm
i j k
= 250 900 75
80 12 10
O
900 75 250 75 250 900 z

=i j +k 250 mm
12 10 80 10 80 12 75 mm x
= i[900( 10) (12)(75)] j[250( 10) 80(75)] + k[250(12) 80(900)]
= { 9900i + 8500j 69000k} N·mm
= { 9.9i + 8.5j 69.0k} N·m

3 Magnitude of moment
MO = ( 9.9)2 + (8.5)2 + ( 69.0)2

= 70.2 N·m
4 Because 70.2 N·m exceeds the 60 N·m

maximum allowable moment, the Ans.
mailbox will fall over.
7. Copper tubing emerges from the wall at A and is subjected to a
force F at its free end B. The tubing will fail if the magnitude of
the moment at A exceeds 3 N·m. Determine the largest value of
the force F that can be applied to the free end of the tubing.
200 mm
A
35° 300 mm y
B
x
30°
250 mm 40°
z
F
1 Introduce a position vector rAB
with tail at A and head at B.
200 mm
rAB
A
35° 300 mm y
B
x
30°
250 mm 40°
z
F
2 Determine the
components of rAB. 3 rABx = 200 mm + 250 mm = 450 mm (1)
200 mm 250 mm
C
rAB
A
35° 300 mm y
B
x
30°
D
250 mm 40°
z
F
4 To determine the y and z components of rAB,
consider a view from the positive x axis.
C, A
35° 5 rABy = (300 mm) sin 35°
rAB = 172.1 mm (2)

300 mm
z
x, B, D
6 rABz = (300 mm) cos 35° = 245.7 mm (3)
7 In component form, from Eqs. 1-3,
rAB = {450i 172.1j + 245.7k} mm (4)

8 Determine the components of F.
12 Fx = F sin 40° cos 30°
y = 0.5567F (7)
B x 11 Fz = F sin 40° sin 30°

30°
= 0.3214F (6)
40°
z 10 F sin 40°
9 Fy = F cos 40°
= 0.7660F (5)
F
13 In component form, from Eqs. 5-7,
F = F{0.5567i 0.7660j + 0.3214k} (8)

14 Calculate the resultant moment. 15 Compute the magnitude.
MA = rAB × F MA = (132.9F)2 + ( 7.8F)2 + ( 248.9F)2
i j k = F (132.9)2 + ( 7.8)2 + ( 248.9)2

= 282.3F N·mm
= 450 172.1 245.7
= 0.2823F N·m
0.5567F 0.7660F 0.3214F
172.1 245.7 450 245.7 450 172.1

=i j +k
0.7660F 0.3214F 0.5567F 0.3214F 0.5567F 0.7660F
= (132.9F)i (7.8F)j (248.9F)k
16 Equate MA to the largest allowable moment, 3 N·m:
MA = 3 N·m
0.2823F N·m
Solving gives
F = 10.6 N Ans.
8. Two forces, P = 60 N and Q = 80 N act on the vertices of a cube as
shown. Determine the moment of each force about point O, if the length
of each edge of the cube is 2 m. Also, determine the shortest distance
from O to the line BF.
Each edge is
2 m long. E F
P = 60 N Q = 80 N
C
D
G x
O
A B
z
y
Each edge is
E F
2 m long.
P = 60 N Q = 80 N
1 To determine the rOE
moment of the force
P about point O, we C
D
have several choices
of position vector rOD
(Recall that the head G
of the vector can lie x
O
anywhere on the line
of action of P).
A B
z
2 Select the position vector with
the simpler form.
rOD = {2i + 2j +2k} m
rOE = {2j} m (1)
Simpler (only one component)

y
Each edge is
E F
2 m long.
rDE Q = 80 N
3 Determine the components of P = 60 N
the force P by introducing a
C
position vector rDE: D
rDE = { 2i 2k} m
G x
O
A B
z
4 The force P has magnitude 60 N and
points in the direction from D to E, so
r
P = (60 N) r DE
DE
2i 2k
= (60 N)
( 2)2 + ( 2)2
= { 42.43i 42.43k} N (2)

Since rOE has only one component, it is easier to
MOP = rOE P calculate cross products of base vectors individually
rather than use the determinant approach to calculating
= {2j} { 42.43i 42.43k} the cross product.
= (2)( 42.43)(j i) (2)(42.43)(j k)

j
= k =i i
k
= { 84.86i + 84.86k} N·m Ans.
y
6 To determine the moment of the force Q Each edge is
about point O, we could introduce either E F 2 m long.
position vector rOB or rOF. Let's
arbitrarily choose rOB. Q = 80 N
P = 60 N
rOB = {2i + 2k} m
C
D
rOF
rFB
O G x
rOB
MOQ = rOB × Q
A B 7 Determine the components of

i j k z force Q by noting it has
magnitude 80 N and points from
= 2 0 2 F to B so
rFB
0 56.57 56.57 Q = (80 N) r
FB
2j + 2k
0 2 2 2 2 0 = (80 N)
=i j +k ( 2)2 + (2)2
56.57 56.57 0 56.57 0 56.57
= { 56.57j + 56.57k} N
= {113.14i 113.14j 113.14k} N·m (3) Ans.

9 Finally, to determine the F y
shortest distance from point O
to line FB, consider the plane Q = 80 N E F
Each edge is
defined by O and FB: 2 m long.
d1 P = 60 N Q = 80 N
d2
C
O D
d
d3
G x
B
O
d
10 From the figure it is clear that of the various distances
d1, d2, d3, ..., from O to line FB, the perpendicular
distance d is the shortest. But we also know that, by z A B
the scalar definition of moment, the moment of Q
about point O equals the perpendicular distance from O
to the line of action of Q times Q. That is,
MQO = Qd
Thus,
MQO
d=
Q
(113.14)2 + ( 113.14)2 + ( 113.14)2

=
80
= 2.45 m Ans.
9. Determine the moment about the screw at A of the force F = 2 N
applied to the sheet-metal bracket shown. Also, determine the shortest
distance from A to the line connecting B and C.
y
50 mm 60 mm
30 mm
x
C A
80 mm
z
70 mm
F=2N
25° 100 mm
B
60 mm
y
50 mm 60 mm
1 To calculate the moment
we could use either the
position vector rAB or rAC rAC
. x
C A
rAB
z
2 rAC has a single component,
rAC = (50 mm + 60 mm)i

F=2N
= { 110i} mm (1)
B 25°
while rAB has two components, so let's
choose the simpler, rAC.
3 Next, we need to calculate the components y
of the force, F. To do this, we first need to 50 mm 60 mm
calculate the coordinates of point B. By 30 mm
inspection, the x coordinate of B is 60 mm.
x
y C A
80 mm
z
A
4 To find the y and z z 70 mm
coordinates of point B,
30 mm
consider a view from
the positive x-axis. F=2N
80 mm 25° 100 mm
B
70 mm
60 mm
100 mm
25°
(100 mm) sin 25° = 42.26 mm
5 y coordinate of B
B
6 = 30 mm 70 mm 42.26 mm
z coordinate of B
(100 mm) cos 25°
= 142.26 mm
= 90.63 mm + 80 mm
= 90.63 mm
= 170.63 mm
7 To determine the components of the force, introduce the
position vector rBC. y
rBC = ( 50 mm 60 mm)i 50 mm 60 mm
C coordinates 30 mm
+ [0 ( 142.26 mm)]j ( 50 mm, 0, 0)
x
+ (0 170.63 mm)k C A
80 mm
= { 110i + 142.26j 170.63k} mm (2)
z
rBC 70 mm
F=2N
25° 100 mm
B
8 The force F has magnitude 2 N and
points from B to C so B coordinates (60, 142.26 mm, 170.63 mm)
60 mm
r
F = (2 N) r BC
BC
110i + 142.26j 170.63k

= (2 N)
( 110)2 + (142.26)2 + ( 170.63)2
= { 0.887i + 1.148j 1.377k} N

MA = rAC F
= { 110i} { 0.887i + 1.148j 1.377k}
= ( 110)( 0.887)(i i) + ( 110)(1.148)(i j) + ( 110)( 1.377)(i k)
=0 =k = j
j
i
= { 151.4j 126.3k} N·mm (3) Ans.
k
10 To determine the shortest distance y
between point A and line BC, consider the 50 mm 60 mm
plane formed by A and BC.
30 mm
C x
A
C A
d
80 mm
z
70 mm
F=2N F=2N
25° 100 mm
B
B
60 mm
11 Magnitude of moment about A = Fd

by Eq. 3
or,
( 151.4)2 + ( 126.3)2 N mm = (2 N)d
Solving gives,
d = 98.6 mm Ans.
10. If the tension in the cable BC is T = 80 lb,
determine the moment about point A of the cable force
acting on the frame at point B. Also, determine the
shortest distance from A to the line through B and C.
12 in.
T = 80 lb
x
B
A
18 in. 10 in.
32 in.
z
2 Since rAC has only one
component while rAB has three,
y let's use rAC.
rAC = {12j} in. (1)

1 To calculate the C
moment, we could
use either position
vector rAB or rAC. 12 in.
rAC T = 80 lb
x
rAB B
A
10 in.
18 in.
32 in.
z
3 To determine the components of the force, T,
introduce the position vector rBC.
rBC = (0 32 in.)i + (12 in. 10 in.)j + (0 18 in.)k
= { 32i + 2j 18k} in.
C
rBC
12 in.
T = 80 lb
x
B
A
18 in. 10 in. 4 The force T has magnitude 80 lb and
points from B to C so
r
T = (80 lb) r BC
32 in. BC
z 32i + 2j 18k
= (80 lb)
( 32)2 + 22 + ( 18)2
= { 69.62i + 4.35j 39.16k} lb

MA = rAC T
by Eq. 1
= 12j { 69.62i + 4.35j 39.16k}
= (12)( 69.62)(j i) + (12)(4.35)(j j) + (12)( 39.16)(j k)
= k =0 =i
j
i
= { 469.92i + 835.44k} lb·in. Ans. (2)

k
y
12 in.
T = 80 lb
x
B
A
18 in. 10 in.
32 in.
z
7 Magnitude of moment about A = Td
6 Finally, to determine the shortest distance or, by Eq. 2
between point A and line BC, consider the
plane formed by A and BC. ( 469.92)2 + (835.44)2 = (80 lb)d
B Solving gives,
Extension of BC
C
T = 80 lb d = 11.98 in. Ans.
d
A

Moments in 3d

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4.

2 Moments in Three-Dimensional Force Systems

30° HEAVY DUTY 250 MM

1 Introduce a position vector rAB 2 Express the force in rectangular components.

= [ 200(43.30) i i + ( 200)( 25) i j ] N·mm

6 MA = ( 200 mm)( 25 N)k

= {5k} N·m Ans.

30° HEAVY DUTY 250 MM

1 Introduce a position vector rAC

y rAC = (L cos 30° + 200 mm)i (L sin 30°)j (1)

L cos 30° 200 mm

6 Determine the rectangular y

= {( L cos 30° 200)i L sin 30° j} mm { 20 cos 30° i 20 sin 30° j} N

= [( L cos 30° 00)( 20 cos 30°)(i i)

+ ( L sin 30° )( 20 cos 30°)(j i)

+ ( L sin 30°)( 20 sin 30°)(j j) ] N·mm

= k[( L cos 30°)( 20 sin 30°) 200( 20 sin 30°)

The terms involving L drop out

= {2000k} N·mm = {2k} N·m Ans.

8 Discussion: Distance L does not appear in the answer

Note: All position vectors

rAB = { 16i + 8j + 5k} in. (1)

2 Determine the rectangular

6 Fx = (30 lb)(sin 60°)(cos 40°)

5 Fz = (30 lb)(sin 60°)(sin 40°)

4 (30 lb) sin 60° 60°

= { 16i + 8j + 5k } { 19.90i 15j + 16.70k}

10 Expand the determinant in terms of the first row,

= i[8(16.70) 5( 15)] j[ 16(16.70) 5( 19.90)] + k[ 16( 15) 8( 19.90)]

= {208.6i +167.7j + 399.2k} lb·in. Ans.

To determine the coordinate direction angles, first determine the

MA = (208.6)2 + (167.7)2 + (399.2)2

Coordinate direction angles

1 Introduce a position vector 80 mm

rAB = {80i 100j} mm

= {1.5i + 1.2j} N·m Ans.

4 The component that tends to

P = 30 N rAE = {40i 70j} mm (1)

6 rAFz = (70 mm) cos 60° = 35 mm (3)

5 rAFy = (70 mm) sin 60°

8 Express the forces in rectangular

= {27.5j + 47.63k} N (5)

MA= rAF × Q + rAE × P

= i[60.62(47.63) ( 35)(27.5)] j[40(47.63) ( 35)(0)] + k[40(27.5) 60.62(0)]

+ i[ 70(30) 0(0)] j[40(30) 0(0)] + k[40(0) 70)(0)]

= {1750i 3105j + 1100k} N·mm

= {1.750i 3.105j + 1.100k} N·m Ans.

30° Mx = 1.750 N·m

10 The magnitude of the moment is 30 N

11 Interpretation: The belt forces acting on pulley B tend to

rOA = {250i + 900j + 75k} mm

900 75 250 75 250 900 z

= i[900( 10) (12)(75)] j[250( 10) 80(75)] + k[250(12) 80(900)]

= { 9900i + 8500j 69000k} N·mm

= { 9.9i + 8.5j 69.0k} N·m

MO = ( 9.9)2 + (8.5)2 + ( 69.0)2

4 Because 70.2 N·m exceeds the 60 N·m

35° 5 rABy = (300 mm) sin 35°

rAB = 172.1 mm (2)

6 rABz = (300 mm) cos 35° = 245.7 mm (3)

7 In component form, from Eqs. 1-3,

rAB = {450i 172.1j + 245.7k} mm (4)