In a three-dimensional system, multiple forces can act on an object. These forces can be combined into a single equivalent force, known as the resultant force. Similarly, the moments generated by these forces can be combined into a single equivalent moment, the resultant couple moment. In certain situations, these two entities may not be mutually perpendicular, meaning they do not have a 90-degree angle between them. This unique condition requires a deeper understanding of the interplay between the resultant force and the couple moment.

To further analyze this situation, the resultant couple moment can be resolved into two components: one parallel and another perpendicular to the line of action of the resultant force. This decomposition allows us to focus on each component separately and understand their individual effects on the system. The parallel component of the couple moment does not cause any rotation about the axis perpendicular to the resultant force. It can be thought of as a "twisting" effect along the direction of the force.

On the other hand, the perpendicular component of the couple moment causes rotation about an axis perpendicular to both the force and the moment. This perpendicular component can be replaced if the resultant force is moved by a perpendicular distance. This means that the combination of the original force and the perpendicular component of the couple moment can be substituted with a single force acting at a different location, resulting in an equivalent system.

The combination of the resultant force and the collinear couple moment (parallel component) can be visualized as a wrench or screw that both translates and rotates the body about its axis. In other words, the rigid body experiences a simultaneous linear motion along the direction of the force and a rotational motion about an axis parallel to the force. This unique motion is referred to as a wrench or screw and has numerous applications in engineering, robotics, and biomechanics.

For instance, in robotics, the concept of a wrench is crucial for understanding the kinematics and dynamics of robotic manipulators, where the end-effector is required to perform complex tasks involving both translation and rotation. Similarly, in biomechanics, the wrench concept is applied to study the forces and moments acting on bones and joints during various activities, helping researchers to design better prosthetics and orthopedic devices.