Moments in 3d
Moments in 3d
+
y
F = 50 N 200 mm
k i
i k= j
k
fingers of right hand
curl from i to j
y
50 N
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
30° HEAVY DUTY 250 MM
moment in coplanar problems.
CHINA
x
k A
MA = {+5k} N·m
+
z
4.2 Moments in Three-Dimensional Force Systems Example 2, page 1 of 4
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
B
HEAVY DUTY 250 MM
CHINA
x
30° A
rAC
C
F = 20 N z
4.2 Moments in Three-Dimensional Force Systems Example 2, page 2 of 4
2 Determine the rectangular components of rAC.
x
C
30°
F = 20 N
z F = (20 N) cos 30° i (20 N) sin 30° j (2)
4.2 Moments in Three-Dimensional Force Systems Example 2, page 3 of 4
7 Use the cross product to compute the moment.
MA = rAC F
=0 j
i
+ ( L cos 30° 00)( 20 sin 30°)(i j)
=k k
= k
=0
= k[( L cos 30° 200)( 20 sin 30°) ( L sin 30°)( 20 cos 30°)] N·mm
3 rA3 z
4.2 Moments in Three-Dimensional Force Systems Example 3, page 1 of 6
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
4.2 Moments in Three-Dimensional Force Systems Example 3, page 2 of 6
1 Introduce a position vector with tail at A and head at B.
5 in.
y
16 in.
40° 8 in.
B x rAB
60°
F = 30 lb
z
4.2 Moments in Three-Dimensional Force Systems Example 3, page 3 of 6
= 19.90 lb (4)
z
3 Fy = (30 lb) cos 60°
= 15 lb (2)
4.2 Moments in Three-Dimensional Force Systems Example 3, page 4 of 6
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.
MA = 16 8 5
19.90 15 16.70
8 5 16 5 16 8
MA = i j +k
15 16.70 19.90 16.70 19.90 15
= 480.6 lb·in.
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
4.2 Moments in Three-Dimensional Force Systems Example 3, page 6 of 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.
4.2 Moments in Three-Dimensional Force Systems Example 4, page 1 of 3
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
4.2 Moments in Three-Dimensional Force Systems Example 4, page 2 of 3
y
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
y
80 mm
MA
MAy = 1.2 N·m
x
C
A MAx = 1.5 N·m
z
100 mm
y Q = 55 N
30° F
Radius = 70 mm
A
B D
C x
z
Belt forces
E
P = 30 N
40 mm
4.2 Moments in Three-Dimensional Force Systems Example 5, page 2 of 6
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,
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:
z = 60.62 mm (2)
B
P = 30 N Radius = 70 mm
4.2 Moments in Three-Dimensional Force Systems Example 5, page 4 of 6
y Q = 55 N
30° F
rAF Radius = 70 mm
A
B D
C x
rAE
z
Belt forces
E
P = {30k} N (6)
4.2 Moments in Three-Dimensional Force Systems Example 5, page 5 of 6
9 Calculate the resultant moment.
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
B
A
C x
z
Belt forces
= 3.73 N·m
y
F = {80i + 12j 10k} N
900 mm
z 250 mm 75 mm x
4.2 Moments in Three-Dimensional Force Systems Example 6, page 2 of 3
y
F = {80i + 12j 10k} N
1 Introduce a position vector with tail at O and
head at A.
MO = rOA × F rOA
900 mm
i j k
= 250 900 75
80 12 10
O
200 mm
A
35° 300 mm y
B
x
30°
250 mm 40°
z
F
4.2 Moments in Three-Dimensional Force Systems Example 7, page 2 of 6
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
4.2 Moments in Three-Dimensional Force Systems Example 7, page 3 of 6
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
4.2 Moments in Three-Dimensional Force Systems Example 7, page 4 of 6
4 To determine the y and z components of rAB,
consider a view from the positive x axis.
C, A
z
x, B, D
9 Fy = F cos 40°
= 0.7660F (5)
F
MA = 3 N·m
0.2823F N·m
Solving gives
F = 10.6 N Ans.
4.2 Moments in Three-Dimensional Force Systems Example 8, page 1 of 6
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
4.2 Moments in Three-Dimensional Force Systems Example 8, page 2 of 6
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.
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
k
= { 84.86i + 84.86k} N·m Ans.
4.2 Moments in Three-Dimensional Force Systems Example 8, page 5 of 6
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
8 Calculate the moment.
rOB
MOQ = rOB × Q
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
MQO = Qd
Thus,
MQO
d=
Q
x
C A
80 mm
z
70 mm
F=2N
25° 100 mm
B
60 mm
4.2 Moments in Three-Dimensional Force Systems Example 9, page 2 of 6
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,
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
4.2 Moments in Three-Dimensional Force Systems Example 9, page 4 of 6
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
MA = rAC F
=0 =k = j
j
i
= { 151.4j 126.3k} N·mm (3) Ans.
k
4.2 Moments in Three-Dimensional Force Systems Example 9, page 6 of 6
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
Solving gives,
d = 98.6 mm Ans.
4.2 Moments in Three-Dimensional Force Systems Example 10, page 1 of 5
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
4.2 Moments in Three-Dimensional Force Systems Example 10, page 2 of 5
2 Since rAC has only one
component while rAB has three,
y let's use rAC.
32 in.
z
4.2 Moments in Three-Dimensional Force Systems Example 10, page 3 of 5
3 To determine the components of the force, T,
introduce the position vector rBC.
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
MA = rAC T
by Eq. 1
= 12j { 69.62i + 4.35j 39.16k}
= k =0 =i
j
i
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