Topic 4

Equilibrium of a Rigid Body

 Contents
• Conditions for Rigid-Body Equilibrium
• 2-D Equilibrium
• Two- and Three-Force Members
• Constraints and Statically Determinacy
 Conditions for Rigid-Body Equilibrium
▪ A rigid body is said to be in static equilibrium if the resultant
force and couple moment are both equal to zero.
▪ Mathematically (conditions):
𝐅𝑅 = 𝟎 𝐌𝑅 𝑜 =𝟎
OR
A
෍𝐅 = 𝟎 ෍ 𝐌𝑜 = 𝟎

OR O is any arbitrary point

෍ 𝐹𝑥 = 0 ෍ 𝐹𝑦 = 0 ෍ 𝐹𝑧 = 0
▪ Note, the moment can also
be taken about any
(appropriate) point or axis,
෍ 𝑀𝑥 = 0 ෍ 𝑀𝑦 = 0 ෍ 𝑀𝑧 = 0 e.g. point A.
 2-D Equilibrium and FBDs
▪ Mathematically (conditions) in the x-y plane:

෍ 𝐹𝑥 = 0 ෍ 𝐹𝑦 = 0

෍ 𝑀𝑜 = 0

An 850 lb engine is supported by

3 chains, which are attached to
the spreader bar of a hoist
 2-D Equilibrium and FBDs
▪ FBDs: Support Reactions
OR
1. Roller/Cylinder
 2-D Equilibrium and FBDs
▪ FBDs: Support Reactions
2. Pin/Hinge (Smooth)
OR

OR OR

Pin used to support the end of the strut

 2-D Equilibrium and FBDs
▪ FBDs: Support Reactions
3. Fixed Support

4. Collar
Member

𝛼 OR
Collar

(a) Member pin connected to collar on smooth rod

 2-D Equilibrium and FBDs
▪ FBDs: Support Reactions
4. Collar

(b) Member fixed connected to collar on smooth rod

 2-D Equilibrium and FBDs
▪ FBDs: Support Reactions
5. Rocker

The rocker for this bridge girder allows horizontal

movement so the bridge is free to expand and
contract due to a change in temperature
 2-D Equilibrium and FBDs
▪ Steps for solving 2-D equilibrium problems:
1. If not given, establish a suitable x-y coordinate
system.
2. Draw the FBD of the object under analysis.
3. Apply the 3 equations of equilibrium to solve for
the unknowns.
 Example 1-2D Equilibrium
Draw free-body diagram of the beam. The beam has a
mass of 100 kg which acts in the middle. Determine the
reaction at A
Example 1-Solution

The FBD of the beam is

drawn as shown below
 Example 1-Solution

Taking moments about the fixed end A

First, summing forces in the x direction
∑𝐹𝑥 = 0 ∑𝑀𝐴 = 0

⟹ −𝐴𝑥 = 0 or 𝐴𝑥 = 0 ⟹ 𝑀𝐴 − 1200 2 − 981 3 = 0

Summing forces in the y direction ⟹ 𝑀𝐴 − 5343 = 0

∑𝐹𝑦 = 0 𝑀𝐴 = 5343 N
⟹ 𝐴𝑦 − 1200 − 981 = 0
In summary:
⟹ 𝐴𝑦 − 2181 = 0 𝐴𝑥 = 0, 𝐴𝑦 = 2181 𝑁, 𝑀𝐴 = 5343 𝑁
𝐴𝑦 = 2181 N
 Example 2

Determine the horizontal and vertical components of the

support reactions at A and B for the beam loaded as shown.
Neglect the weight of the beam. Take 𝜃 = 60𝑜 .

50 N. m 𝜃
 Example 2 - Solution

50 Nm
𝐴 𝐵

Summing forces in the y direction

Taking moments about the end B
∑𝐹𝑦 = 0
∑𝑀𝐵 = 0
⟹ 𝐴𝑦 − 4000 + 𝑁𝐵 𝑐𝑜𝑠𝜃 = 0
⟹ 50 + 4000 2 − 𝐴𝑦 8 = 0
⟹ 1006.25 − 4000 + 𝑁𝐵 𝑐𝑜𝑠60 = 0
⟹ 8050 − 8𝐴𝑦 = 0
⟹ −2993.75 + 𝑁𝐵 𝑐𝑜𝑠60 = 0
8050
⟹ 𝐴𝑦 = = 1006.25 N 2993.75
8 ∴ 𝑁𝐵 = = 5987.5 N
𝑐𝑜𝑠60
 Example 2 - Solution

50 Nm
𝐴 𝐵

Finally, ∑𝐹𝑥 = 0
⟹ 𝐴𝑥 − 𝑁𝐵 𝑠𝑖𝑛𝜃 = 0
⟹ 𝐴𝑥 − 5987.5𝑠𝑖𝑛60 = 0
⟹ 𝐴𝑥 = 5987.5 0.866 = 5185.18 N
 Example 3
Determine the support reactions on the member shown below.
The collar A is fixed to the member and free to slide vertically.
Example 3
Solution
Example 3 – Solution Contd.
 Two- and Three-Force Members
▪ Two-Force Members
For a two-force member to be in equilibrium the resultant forces at A
and B must be equal in magnitude and act in the opposite directions
along the line joining points A and B.

෍𝐅 = 𝟎 ෍ 𝐌𝐴 = ෍ 𝐌𝐵 = 𝟎 Two-force member, if
𝐹𝐴 = 𝐹𝐵 weight is neglected
𝐼𝑚𝑝𝑙𝑖𝑒𝑠 𝐅𝐴 𝑎𝑛𝑑 𝐅𝐵 ℎ𝑎𝑣𝑒 𝑡ℎ𝑒
𝑠𝑎𝑚𝑒 𝑙𝑖𝑛𝑒 𝑜𝑓 𝑎𝑐𝑡𝑖𝑜𝑛
 Example 4: 2-D Equilibrium and FBDs
The 4kN load at B of the beam is supported by pins at A
and C. Find the magnitude and direction of the support
reactions at A and C. Neglect the weight of the beam.

Solution
 Topic 5
Structural Analysis
 Contents
• Simple Trusses
• The Method of Joints
• Zero-Force Members

23
 Applications
❑ Trusses are Roof: 2-D Bridge
commonly
used to
support roofs
and bridges.

Roof: 3-D Crane

The China National

Stadium (Birds Nest) –
2008 Olympic Games

24
 Simple Trusses
▪ A truss is a structure composed of slender members joined
together at their end points.

𝐵𝑥
B A
B Roof
Rooftruss
Truss 𝐴𝑦
𝐵𝑦

Bridge Truss
25
 Simple Trusses
▪ A simple truss is a planar truss which begins with a triangular
element and can be expanded by adding two members and a
joint.

Simple Truss

26
 Simple Trusses
▪ Assumptions:
o Weight of the members is negligible
o All loadings are applied at the joints
o The members are joined together by smooth pins
o Thus, each truss member act as a two-force member

Large Bolt/Pin Bolting/Welding

27
 Simple Trusses
▪ Members are loaded in either tension or compression. Often
compressive members are made thicker to prevent buckling.

Tension Compression

▪ Methods to determine the forces:

o Method of Joints
o Method of Sections

28
 The Method of Joints
▪ The method of joints is based on the fact that if the entire
truss is in equilibrium, then each joint is also in equilibrium.

▪ Each joint is treated as a “particle”

▪ Draw the FBD of the necessary joints and apply

෍ 𝐹𝑥 = 0 and ෍ 𝐹𝑦 = 0

▪ Always start at a joint having no more than two unknown

forces.

▪ Proceed judiciously from Joint – to – Joint keeping in mind

that there must be no more than 2 unknowns.

29
 The Method of Joints
▪ Example 1
Determine the force in each member of the truss
shown in the figure, and indicate whether the
members are in tension or compression.

30
 The Method of Joints
▪ Example 2
Determine the force in each member of the truss, and state if
the members are in tension or compression. Set 𝜃 = 0𝑜 .

31
 Procedure for Analysis
• Draw the FBD of a joint having at least one known force and at
most two unknown forces. (If this joint is at one of the supports,
then you may need to first calculate the reaction forces at the
support.)
• If the correct sense of direction of an unknown member force at
a joint cannot be determined by inspection, the rule is to always
assume that the unknown member forces at the joint are in
tension, i.e., they pull on the pin or joint.
• Orient the x and y axes such that the forces on the FBD can be
easily resolved into their x and y components. Apply the force
and moments equilibrium conditions to find the unknown forces.
• Once an unknown member force is found, use its correct
magnitude and sense (T or C) to update the joint before using it
in subsequent calculations.
32
 The Method of Joints
▪ Example 1 - Solution

33
 The Method of Joints
▪ Example 1 - Solution

34
 Example 2 - Solution
FBD of Truss ∑𝐹𝑥 = 0
D
3 kN
⟹ 3000 − 𝐴𝑥 = 0
1.5 m ⟹ 𝐴𝑥 = 3000 N
∑𝐹𝑦 = 0
A α B α
Ax C ⟹ 𝐴𝑦 + 3125 − 4000 = 0
2m 2m ∴ 𝐴𝑦 = 875 N
Ay 4 kN Cy Now, apply the method of joints to the
truss starting at the joint with the least
First, let’s determine the support reactions number of unknowns (i.e., joint A or C)
∑𝑀𝐴 = 0 FCD y
Joint C:
⟹ 𝐶𝑦 2 + 2 − 4000 2 − 3000 1.5 = 0
α C
⟹ 4𝐶𝑦 −12500 = 0 x
FCB
𝐶𝑦 = 3125N

Cy = 3125 N

35
 Example 2 Solution
∑𝐹𝑦 = 0 Joint A: y FAD
⟹ 3125 − 𝐹𝐶𝐷 𝑠𝑖𝑛𝛼 = 0
A α
x
But 𝑠𝑖𝑛𝛼 = 1.5ൗ 1.52 + 22 = 1.5Τ2.5
Ax = 3000 N FAB
3 4
∴ 𝑠𝑖𝑛𝛼 = and 𝑐𝑜𝑠𝛼 =
5 5 Ay = 875 N
3
⟹ 3125 − 𝐹𝐶𝐷 =0 ∑𝐹𝑦 = 0
5
⟹ 875 − 𝐹𝐴𝐷 𝑠𝑖𝑛𝛼 = 0
𝐹𝐶𝐷 = 5208.333 N (Compression)
3
∑𝐹𝑥 = 0 ⟹ 875 − 𝐹𝐴𝐷 =0
5
⟹ 𝐹𝐶𝐷 𝑐𝑜𝑠𝛼− 𝐹𝐶𝐵 = 0 𝐹𝐴𝐷 = 1458.333 N (Compression)
4 ∑𝐹𝑥 = 0
⟹ 5208.333 − 𝐹𝐶𝐵 = 0
5 ⟹ 𝐹𝐴𝐵 − 3000 − 𝐹𝐴𝐷 𝑐𝑜𝑠𝛼 = 0
𝐹𝐶𝐵 = 4166.667N (Tension) 4
𝐹𝐴𝐵 − 3000 − 1458.333 =0
5
𝐹𝐴𝐵 = 4166.667 N (Tension)
36
 Example 2 Solution
Joint B: y

FBD
B
x
FAB = 4166.667 N FCB = 4166.667 N

4000 N
∑𝐹𝑦 = 0

⟹ 𝐹𝐵𝐷 − 4000 = 0
𝐹𝐵𝐷 = 4000 N (Tension)

37
 Zero-Force Members
▪ If a joint has only two non-collinear members and there is no
external load or support reaction at that joint, then those two
members are zero-force members.

▪ Example 3
Identify the zero-force
members in the truss
AB, AF, DE, and DC
below.

38
 Problem 1
Using the Method of Joints, find the force in each member
of the truss. State whether in tension of compression.

39
 Problem 2

Identify all the Zero-Force members in the truss system shown

40
 The Method of Sections
▪ To determine the forces only in few members of a
truss, the method of sections is used to analyze the
truss.

▪ The truss is divided into two parts by taking an

imaginary “cut” through the truss, and the apply:

▪ Not more than three members.

෍ 𝑀𝐴 = 0

෍ 𝐹𝑥 = 0
෍ 𝑀𝐵 = 0

෍ 𝐹𝑦 = 0
෍ 𝐹𝑥 = 0 OR
෍ 𝑀𝐴 = 0 ෍ 𝐹𝑦 = 0

41
 Example 4 – Method of Sections
Using section a-a, find the forces in members BC, GC and GF
State whether they in tension or compression

42
 Procedure for Analysis
❑ Free-Body Diagram
• Cut or section the truss through the members with required
unknown forces
• If necessary, determine truss’s support reactions before
isolating the appropriate section
• Select a segment of the sectioned truss with the least number
of unknown forces (not more than 3) and draw its FBD
• Always assume that the unknown member forces at the cut
section are tensile forces

❑ Equilibrium Equations
• Sum moments about points formed by intersection of lines of
action two unknown forces
• If two unknown forces are parallel, forces may be summed in a
direction perpendicular to these unknowns
43
 Example 4 – Solution
Using section a-a, find the forces in members BC, GC and GF
State whether they in tension or compression

Dr. S. K. Armah/Prof. S.P. Owusu-Ofori 44

 Example 5 - Method of Sections

Determine the force developed in members FE,

EB, and BC of the truss and state if these
members are in tension or compression.

45
 Example 5 - Solution

A section is cut through the truss as shown above. But first, let’s determine the
support reactions
From the FBD of the entire structure

∑𝑀𝐴 = 0
⟹ 𝐷𝑦 2 + 2 + 1.5 − 11 2 − 22 3.5 = 0
𝐷𝑦 = 18 kN

46
 Example 5 - Solution
Now, apply the method of sections to the
selected truss segment

∑𝑀𝐸 = 0
⟹ 18 2 − 𝐹𝐵𝐶 2 = 0
𝐹𝐵𝐶 = 18 kN 𝑇

∑𝑀𝐵 = 0
⟹ 18 3.5 − 22 1.5 − 𝐹𝐹𝐸 2 = 0 𝐹𝐹𝐸 = 15 kN 𝐶

∑𝐹𝑦 = 0 𝑠𝑖𝑛𝛼 = 2ൗ 1.52 + 22 = 2Τ2.5 = 4Τ5

⟹ 𝐹𝐸𝐵 𝑠𝑖𝑛𝛼 + 18 − 22 = 0
4
4 ∴ 𝐹𝐸𝐵 = = 5 kN C
𝐹𝐸𝐵 = 4Τ5
𝑠𝑖𝑛𝛼

47