Fundamental Equations of Statics

Cartesian Vector Equilibrium

A = Axi + Ay j + Azk Particle
Magnitude ©Fx = 0, ©Fy = 0, ©Fz = 0
A = 2Ax2 + Ay2 + A 2z Rigid Body-Two Dimensions
Directions ©Fx = 0, ©Fy = 0, ©MO = 0
A Ax Ay Az Rigid Body-Three Dimensions
uA = = i + j + k
A A A A ©Fx = 0, ©Fy = 0, ©Fz = 0
= cos ai + cos bj + cos gk
©Mx¿ = 0, ©My¿ = 0, ©Mz¿ = 0
cos2 a + cos2 b + cos2 g = 1

Dot Product Friction

A # B = AB cos u Static (maximum) Fs = ms N
= A x Bx + A y By + A z Bz Kinetic Fk = mk N
Cross Product
Center of Gravity
i j k
Particles or Discrete Parts
C = A  B = Ax Ay Az '
Bx By Bz ©r W
r =
©W
Cartesian Position Vector Body
r = 1x2 - x12i + 1y2 - y12j + 1z2 - z12k '
r dW
L
Cartesian Force Vector r =
r dW
F = Fu = F a b L
r
Moment of a Force Area and Mass Moments of Inertia
Mo = Fd i j k
M o = r : F = rx ry rz I = r 2 dA I = r 2 dm
L L
Fx Fy Fz
Parallel-Axis Theorem
Moment of a Force About a Specified Axis
I = I + Ad 2 I = I + md 2
ux uy uz
#
Ma = u r  F = rx ry rz Radius of Gyration
Fx Fy Fz I I
k = k =
BA Bm
Simplification of a Force and Couple System
FR = ©F Virtual Work
1M R2O = ©M + ©M O dU = 0
Geometric Properties of Line and Area Elements
Centroid Location Centroid Location Area Moment of Inertia

y y
L = 2θ r A = θ r2
r r Ix = 14– r 4 (θ – 12– sin 2)θ
θ θ
x x
θ C θ C
Iy = 14– r 4 (θ + 12– sin 2 ) θ
r sin θ
—––– 2– r sin θ
—–––
θ 3 θ
Circular arc segment Circular sector area

y
L = π2– r L = πr A = 14– πr2 –1– π r 4
Ix = 16
4r
—
r 2r C r r 3π
C — C
π 1
Iy = 16
–– πr4
x
4r
—
3π

Quarter and semicircle arcs Quarter circle area

a A = –12h (a + b) y π r2
A= —–
2
C
h x 4r
—
3π
Ix = 18– π r 4
r
1– ———
2 a+ b h C x
b 3 a+b
Iy = 18– π r 4
Trapezoidal area Semicircular area
y
b A= 23– ab A = πr2

r Ix = 14– π r 4
a C 3–
5a x
C
Iy = 14– π r 4
–3 b
8
Semiparabolic area Circular area

y A = bh
A= 1 ab
— 1 3
3
h x Ix = 12 bh
—
b C
C 3
10 b
—
3– b 1
4a
3
Iy = 12 hb
—
a
Exparabolic area Rectangular area

a
A= –1 bh
2
b
C h C
x Ix = 1 3
36 bh
—
1–
A= 4 ab
— b 3h
3
2
5 a
—
Parabolic area Triangular area