BAB 3

SISTIM RESULTAN GAYA

Sasaran bab ini adalah : Mahasiswa Mampu untuk

1. Menjelaskan konsep moment satu gaya dan menghitungnya dalam 2 dan 3
dimensi.
2. Menetapkan momen suatu gaya di suatu garis/sumbu.
3. Mendefine the moment of a couple.
4. Menghitung Resultan sistim gaya nonconcurrent/tidak bersamaan.
5. Mengindikasikan bagaimana mengurangi beban yang terdistribusi ke dalam
sisitim resultan gaya pada suatu lokasi tertentu.

Definisi Moment Gaya

The moment of a force about a point or an axis provides a measure of the tendency
of the force to cause a body to rotate about the point or axis

Momen di sumbu z akibat gaya pada sumbu x tegak lurus sumbu y

Fx - horizontal force
dy - distance from point O to force
Mo - moment of force about point O
(Mo)z - moment of force about axis z

Momen di sumbu x akibat gaya pada sumbu z tegak lurus sumbu y

Fz - horizontal force
dy - distance from point O to force
Mo - moment of force about point O
(Mo)x - moment of force about axis z
NO moment

Magnitude of the moment

M = Fd

Direction of the moment

Right Hand Rule

Resultant Moment of a System of Coplanar Forces

+ M R O = ∑ Fd

Counterclockwise is positive by scalar sign convention

CONTOH : For each case, find the moment of the force about the point O

M O = (100 N )( 2 m ) = 200 N ⋅ m
 M O = ( 50 N )( 0.75m ) = 75 N ⋅ m

( )
M O = ( 40lb ) 4 + 2cos30o ft = 229lb ⋅ ft

( )
M O = ( 60lb ) 1sin 45o ft = 42.4lb ⋅ ft

CONTOH SOAL Determine the moment of the 800 N force about points A, B, C,
and D
JAWAB
M A = 800 N (2.5 m) = 2000 N ⋅ m

M B = 800 N (1.5 m) = 1200 N ⋅ m

M C = 800 N (0 m) = 0 N ⋅ m

M D = 800 N (0.5 m) = 400 N ⋅ m

( +ccw ) M R O = ∑ Fd

M R O = −50 N ( 2m ) + 60 N ( 0 )

( ) (
+20 N 3sin 30o m − 40 N 3cos30o m )
M R O = −334N ⋅ m = 334N ⋅ m ( cw )
CROSS PRODUCT
Another method of vector multiplication
r r r
C = A×B
Read as C equals A cross B

Magnitude: C = ABsin θ

Direction:
Right Hand Rule

1. Cross Product
r r r r
A × B ≠ B× A

( )
r r r r
A × B = − B× A

Not Commutative.

( ) ( )
r r r r
2. Scalar Multiplication a A × B = aA × B

( )
r r
= A × aB

( )
r r
= A×B a

( ) ( ) ( )
r r r r r r r
3. Distributive Law: A× B+ D = A×B + A×D
Unit Vektor
θ = 90o ⇒ sin θ = 1

ˆi × ˆi = 0 ˆi × ˆj = kˆ ˆi × kˆ = − ˆj
ˆj × ˆi = − kˆ ˆj × ˆj = 0 ˆj × kˆ = ˆi

kˆ × ˆi = ˆj kˆ × ˆj = − ˆi kˆ × kˆ = 0

Right Hand Rule

Bentuk Cartesiannya :

( ) ( )
r r
A × B = Ax ˆi + Ay ˆj + Az kˆ × Bx ˆi + B y ˆj + Bz kˆ =

( )
Ax Bx ˆi × ˆi + Ax B y ( ˆi × ˆj) + A B ( ˆi × kˆ ) +
x z

Ay Bx ( ˆj × ˆi ) + A B
y y ( ˆj × ˆj) + A B ( ˆj × kˆ ) +
y z

Az Bx ( kˆ × ˆi ) + A B
z y ( kˆ × ˆj) + A B ( kˆ × kˆ )
z z

Operasi proses :

( )( )
r r
A×B= Ax ˆi + Ayˆj + Azkˆ × Bx ˆi + Byˆj + Bzkˆ =

+ AB
x y k − AxBz j − AyBxk + AyBz i + AB
ˆ ˆ ˆ ˆ
z x j − AB
ˆ
z y i=
ˆ

z y )i −(AB
x z − AB
z x )j + (AB
x y − AyBx )k
(AyBz -AB ˆ ˆ ˆ
Formula ekivalen :

Determinant form: For Element î :

ˆi ˆj kˆ
ˆi ˆj kˆ
r r Ax Ay Az = î ( Ay Bz − Az B y )
A × B = Ax Ay Az Bx By Bz
Bx By Bz

For Element ĵ:

For Element k̂:
ˆi ˆj kˆ ˆi ˆj kˆ
Ax Ay Az = −ˆj ( Ax Bz − Az Bx )
Ax Ay Az = k̂ ( Ax B y − Ay Bx )
Bx By Bz
Bx By Bz

Moment of a Force -Vector Formulation

r r r
MO = r × F

M O = rFsin θ
= F(r sin θ)
= Fd

PRINSIP TRANSMISIBLE

r r r
MO = r × F
r r
= rA × F
r vector can be taken to any point on line of action of F r r
= rB × F
r r
= rC × F
Bentuk Cartesiannya dan Formulasi vektor cartesian :

r
ˆi ˆj kˆ M O = ( ry Fz -rz Fy )iˆ
r r r
M O = r × F = rx ry rz −( rx Fz − rz Fx )ˆj
Fx Fy Fz
+ ( r F − r F )kˆ
x y y x

MOMENT

RESULTAN MOMEN DARI SUATU SISTIM GAYA

( )
r r r
M RO = ∑ r × F

(
r r r r
) ( r r
= r1 × F1 + r2 × F2 + r3 × F3 ) ( )

Contoh soal : Cari moment di titik A

r r
1. Find vectors rA and rB
 2. Force vector is 60 N times a unit vector in direction of û CB

3. Moment r r r r r r
M A = rA × F or M A = rB × F

Vektor posisi : r r
rB = rBA = (1iˆ + 3jˆ + 2k)m
ˆ
r r
rC = rCA = (3iˆ + 4ˆj + 0k)m
ˆ
r r r
rCB = rB − rC
r = (1 − 3)iˆ + (3 − 4)ˆj + (2 − 0)kˆ
CB

rCB = −2iˆ − 1jˆ + 2kˆ

Vektor Gaya :
rCB = −2iˆ − 1jˆ + 2kˆ
r
r −2iˆ − 1jˆ + 2kˆ
û CB = −2i − 1j + 2k = CB =
ˆ ˆ ˆ
rCB ( −2) 2 + ( −1)2 + (2)2
2 1 2
û CB = − ˆi − ˆj + kˆ
3 3 3
r
F = (60 N) uˆ CB
r
F = ( −40iˆ − 20ˆj + 40k)
ˆ N

Vektor momen
r
rB = (1iˆ + 3jˆ + 2k)m
ˆ
r
rC = (3iˆ + 4ˆj + 0k)m
ˆ
r
F = ( −40iˆ − 20ˆj + 40k)
ˆ N
r r r
M A = rB × F = (1iˆ + 3jˆ + 2k)m
ˆ × ( −40iˆ − 20ˆj + 40k)
ˆ N
 r r r
M A = rB × F = (1iˆ + 3jˆ + 2k)m
ˆ × ( −40iˆ − 20ˆj + 40k)
ˆ N
ˆi ˆj kˆ
MA = 1 3 2
-40 -20 40

= [3(40) − 2( −20)]iˆ − [(1(40) − 2( −40)]jˆ + [1( −20) − 3( −40)]kˆ

(
= 160iˆ − 120ˆj + 100kˆ ) N⋅m

M A = (160) 2 + ( −120) 2 + (100)2 = 224 N ⋅ m

Contoh soal : Determine the resultant moment at O and the coordinate direction angles
for the moment.

r r
rA = rOA = (5j)ft
ˆ
r r
rB = rOB = (4iˆ + 5jˆ − 2k)ft
ˆ

Vektor posisi (lihat gambar 04.17.b)

r
Vektor gayanya : F1 = ( −60iˆ + 40ˆj + 20k)
ˆ lb
r
F2 = (50ˆj) lb
r
F3 = (80iˆ + 40ˆj − 30k)
ˆ lb

( ) ( ) ( ) ( )
r r r r r r r r r
Vektor momennya : M R O = ∑ r × F = rA × F1 + rA × F2 + rB × F3
ˆi ˆj kˆ ˆi ˆj kˆ ˆi ˆj kˆ
= 0 5 0 +0 5 0+ 4 5 −2
-60 40 20 0 50 0 80 40 −30
 ˆi ˆj kˆ ˆi ˆj kˆ ˆi ˆj kˆ
r
M RO = 0 5 0 + 0 5 0 + 4 5 −2
-60 40 20 0 50 0 80 40 −30

= [5(20) − 40(0)]iˆ − [0]jˆ + [0(40) − 60(5)]kˆ

+[0]iˆ − [0]jˆ + [0]kˆ
+[5( −30) − 40( −2)]iˆ − [4 ( −30 ) − 80 ( 2 )]jˆ + [4(40) − 80(5)]kˆ

( )
= 30iˆ − 40ˆj + 60kˆ lb ⋅ ft

= ( 30iˆ − 40ˆj + 60kˆ )

r
M RO lb ⋅ ft

M RO = ( 30 )
2 2
( )
+ ( −40 ) + 602 lb ⋅ ft
M R O = 78.10 lb ⋅ ft

( )
r
M RO 30iˆ − 40ˆj + 60kˆ lb ⋅ ft
û = =
M RO 78.10 lb ⋅ f
= 0.3841iˆ − 0.5121jˆ + 0.7682kˆ

Sudut Arahnya : û = 0.3841iˆ − 0.5121jˆ + 0.7682kˆ

cos α = 0.3841 α = 67.4o
cos β = −0.5121 β = 121o
cos γ = 0.7682 γ = 39.8o

Principle of Moments

The moment of a force about a point is equal to the sum of the moments of the force’s
components about the point.
F F1

F2
A
Contoh Soal : Determine the moment of the force about A

CB = d = 100cos 45o = 70.71mm = 0.07071m

M A = Fd = ( 200N )( 0.07071m ) = 14.1N ⋅ m

( )
r
M A = 14.1kˆ N ⋅ m
Moment of a Force About a Specified Axis

1. Sometimes need the component of a moment about a particular axis

2. Scalar analysis: ma=Fda where da is the ⊥ or shortest distance from the force line
of action to the axis of interest
3. Vector analysis: ma= ua • (r x F)
4. This called the triple scalar product
 In general case, to find
r
moment of F, at point O ,
about axis a ' a ' , we project
r r
M O of F about O onto a ' a ' .

r r r
M O = rA × F ˆi ˆj kˆ
Then M a = (uax ˆi + ua y ˆj + uaz k)
ˆ ⋅r
x ry rz
r r
r
(
M a =M O ⋅ uˆ A = uˆ A ⋅ rA × F ) Fx Fy Fz
ua x ua y ua z uax ua y uaz
M a = rx ry rz M a = rx ry rz
Fx Fy Fz Fx Fy Fz

ua x ua y u a z ⇒
x,y,z components of unit vector
directed along the axis.
rx ry rz ⇒
x,y,z components of position vector
directed from point O on the axis to any
point along the line of action of the force.
Fx Fy Fz ⇒
x,y,z components of the force vector

1. Ma is a scalar with positive or negative sign.

2. Positive sign indicates the sense is the same as unit vector ua.

3. Negative sign indicates the sense is opposite the sense of unit vector ua.