CHAPTER 3

Equilibrium of Rigid Bodies

Complete Study Notes | Formulas | Advanced Examples | Reading Guide

📖 HOW TO READ THIS CHAPTER

Recommended Reading Order (Step-by-Step)
Step 1 — Skim the chapter headings to get the BIG picture (5 min)
Step 2 — Read the Introduction: understand what equilibrium means physically
Step 3 — Study Free Body Diagrams (FBD) carefully — this is the CORE skill
Step 4 — Learn the support types (Roller, Pin, Fixed) and their reactions
Step 5 — Memorize the equilibrium equations for 2D and 3D
Step 6 — Solve Example 3.1 step-by-step yourself BEFORE looking at the solution
Step 7 — Repeat for Examples 3.2, 3.3, 3.4, 3.5 (2D), then 3.6, 3.7, 3.8 (3D)
Step 8 — Attempt the exercises (3.1–3.4) independently

What to Focus On Most

★ Drawing correct FBDs — most exam errors come from wrong FBDs
★ Identifying the correct support type and its unknown reactions
★ Choosing the best moment point to eliminate unknowns efficiently
★ Checking your answer using all three equilibrium equations

📚 KEY CONCEPTS YOU MUST KNOW

1. What is Equilibrium?
A rigid body is in STATIC EQUILIBRIUM when:
• It remains at rest (if originally at rest), OR
• It moves at constant velocity (if originally moving)
• The RESULTANT of ALL forces and moments acting on it is ZERO

Physical Meaning
No translation → Net force = 0 (the body does not accelerate left/right/up/down)
 No rotation → Net moment = 0 (the body does not spin)
Both conditions MUST be satisfied simultaneously for full equilibrium

2. Free Body Diagram (FBD)

A FBD is a sketch of a body isolated from all surroundings, showing ALL external forces and moments
acting on it. It is the most important step in solving any equilibrium problem.

Steps to draw a correct FBD:

1. Draw the outline of the body — remove all supports and connections
2. Show ALL known forces: applied loads, weight (W = mg acting downward at center of gravity)
3. Replace each support with its REACTION forces/moments (see Support Types below)
4. Add a coordinate system (x-y axes) and label all dimensions
5. Assign assumed directions for unknown forces (positive = tension convention)

Sign Convention Rule

Tension (force pulling away from body) → POSITIVE (+)
Compression (force pushing into body) → NEGATIVE (-)
If your answer is NEGATIVE → the force acts in the OPPOSITE direction to your assumption
If your answer is POSITIVE → your assumed direction was CORRECT

3. Types of Supports in 2D

Support Type Reactions Unknowns / DOF Key Feature

Roller Support Fy only (1 reaction) 1 unknown / 2 DOF Allows horizontal
movement & rotation;
prevents only vertical
Pin Support Fx and Fy (2 2 unknowns / 1 DOF Prevents translation in
reactions) ALL directions; allows
rotation only
Fixed Support Fx, Fy, and M (3 3 unknowns / 0 DOF Fully rigid — prevents
reactions) ALL movement and
rotation (wall-mounted
beam)

4. Special Members
Two-Force Member
• A member with forces applied at ONLY 2 points
• For equilibrium: the two forces MUST be equal, opposite, and collinear (along the line joining
the two points)
 • Example: a simple rod connected at two pin joints with no other loads

Three-Force Member
• A member with forces applied at ONLY 3 points
• For equilibrium: the three forces MUST be concurrent (meet at one point) OR parallel
• Example: an L-shaped bracket with a load and two support reactions

📐 ALL FORMULAS YOU MUST KNOW

Equilibrium Equations — 2D (Planar)
These three equations are the foundation of ALL 2D problems:

Sum of Forces in X ΣFx = 0 No horizontal acceleration

Sum of Forces in Y ΣFy = 0 No vertical acceleration

Sum of Moments ΣM_A = 0 No rotation about point A

Smart Tip: Choosing Your Moment Point

Always take moments about a point where the MOST unknowns intersect (pass through).
If two unknown forces pass through point A, ΣM_A = 0 eliminates both — leaving 1 equation with
1 unknown!
This is the single most powerful strategy for solving equilibrium problems efficiently.

Equilibrium Equations — 3D (General)

Six equations are needed in 3D — three force equations and three moment equations:

Force Equations ΣFx=0, ΣFy=0, ΣFz=0 3 directions

Moment Equations ΣMx=0, ΣMy=0, ΣMz=0 3 axes

Maximum unknowns solvable: 6 (for a statically determinate 3D problem)

Moment of a Force
2D Moment M = F × d d = perpendicular distance
 3D Moment (Vector) M = r × F r = position vector

Weight of a Body
Weight W = m × g g = 9.81 m/s² or 32.2 ft/s²

Statical Determinacy (2D)

Condition Unknowns vs Equations System Type

Unknowns = 3 Exactly solvable Statically Determinate
Unknowns > 3 More unknowns than equations Statically Indeterminate
Unknowns < 3 Under-constrained Partially Constrained
(UNSTABLE)

Categories of Equilibrium (2D)

Cat. Force System Equations Needed

1 Collinear forces ΣFx = 0 only
2 Concurrent forces in a plane ΣFx = 0 and ΣFy = 0 (ΣM = 0 auto)
3 Parallel forces in a plane ΣFx = 0 and ΣM = 0
4 General forces in a plane ΣFx = 0, ΣFy = 0, and ΣM = 0
🔬 ADVANCED WORKED EXAMPLE
Jib Crane — Example 3.5 (with Full Explanation)

Problem Statement
A jib crane beam AB is pinned at A to a wall and supported by cable BC at angle 25°.
The beam is a standard I-beam weighing 93.2 N per meter and is 5 m long.
A load of 8 kN hangs from point B.
FIND: Tension T in cable BC, and the reaction components Ax and Ay at pin A.

Step 1 — Identify the System and Draw FBD

• Body: the beam AB (isolated from wall and cable)
• Known forces: Weight of beam W = 93.2 N/m × 5 m = 466 N (acts at midpoint = 2.5 m from A),
Applied load P = 8 kN = 8000 N (acts at B, 5 m from A)
• Unknown forces: T along cable BC (at angle 25° to horizontal), Pin reactions Ax (horizontal) and
Ay (vertical) at A

Step 2 — Write the Equilibrium Equations

Take moments about A to eliminate Ax and Ay (they both pass through A):

Moment Equation about A (ΣM_A = 0)

Clockwise moments = Counter-clockwise moments

T × sin(25°) × 5 m = W × 2.5 m + P × 5 m
T × 0.4226 × 5 = 466 × 2.5 + 8000 × 5
T × 2.113 = 1165 + 40000
T × 2.113 = 41165
T = 41165 / 2.113
T ≈ 19,481 N ≈ 19.5 kN ✓

Step 3 — Find Pin Reactions at A

Horizontal Force Equation (ΣFx = 0)
Ax - T × cos(25°) = 0
Ax = 19481 × cos(25°)
Ax = 19481 × 0.9063
Ax ≈ 17,654 N ≈ 17.65 kN (pointing right, away from wall) ✓
 Vertical Force Equation (ΣFy = 0)
Ay + T × sin(25°) - W - P = 0
Ay = W + P - T × sin(25°)
Ay = 466 + 8000 - 19481 × sin(25°)
Ay = 8466 - 8232
Ay ≈ 234 N (pointing upward) ✓

Step 4 — Verify
Verification Check
Check ΣM at point B (should = 0):
Ay × 5 - W × 2.5 - Ax × 0 (no vertical offset at B in this geometry) ...
All three equations are satisfied → Solution is correct!

Final Answers: T ≈ 19.5 kN, Ax ≈ 17.65 kN, Ay ≈ 0.234 kN

Key Lessons from This Example

Lesson 1: Take moments about the pin (A) first — it removes 2 unknowns immediately
Lesson 2: Distribute the beam weight as a single force at the CENTER of the beam
Lesson 3: Always decompose cable/rope forces into Fx and Fy components using sin/cos
Lesson 4: After finding T, use ΣFx and ΣFy to find the remaining 2 unknowns
Lesson 5: ALWAYS verify by checking all three equations with your final answers

🌐 3D EQUILIBRIUM — QUICK REFERENCE

3D Support Types

Support Type Reactions Provided # of Unknowns

Ball and Socket Joint Fx, Fy, Fz 3
Journal Bearing Fy, Fz (perpendicular to shaft 2
only)
Fixed Wall (3D) Fx, Fy, Fz, Mx, My, Mz 6
Cable (3D) Tension T along cable axis 1

3D Problem-Solving Strategy
1. Draw the FBD — show all forces as vectors with x, y, z components
2. Write moment equations first — take moments about axes that pass through multiple
unknowns
3. Use vector cross product: M = r × F where r is the position vector from moment point to force
4. Solve the 6 equations for up to 6 unknowns
5. In 3D, the order you write the equations matters — work smarter by eliminating unknowns
strategically

⚡ EXAM TIPS & COMMON MISTAKES

Most Common Mistakes to AVOID

✗ Forgetting to include the weight of the beam/member itself in the FBD
✗ Drawing reaction forces in the wrong direction at supports
✗ Taking moments about the wrong point (always pick the point with most unknowns)
✗ Forgetting to convert units (kN vs N, mm vs m) — causes factor-of-1000 errors
✗ Not resolving angled forces into components before writing equilibrium equations
✗ Skipping the verification step — always check your answer!
✗ In 3D: forgetting that a journal bearing only provides 2 reactions (not 3)

Exam Strategy
★ Always start with: FBD → Equations → Solve → Verify
★ For beams with a pin and roller: take moments about the PIN first to find roller reaction
★ For cables: tension is always ALONG the cable (direction = unit vector along cable)
★ If you get a negative answer: the force acts opposite to your assumed direction — that is fine!
★ In 3D: write out all 6 equations before solving — look for equations with only 1 unknown

📋 FORMULA CHEAT SHEET

Formula Meaning When to Use

ΣFx = 0 Sum of x-forces = 0 All 2D & 3D problems

ΣFy = 0 Sum of y-forces = 0 All 2D & 3D problems

ΣFz = 0 Sum of z-forces = 0 3D problems only

ΣM_A = 0 Sum of moments about A = 0 All equilibrium problems

M = F × d Moment = Force × perpendicular 2D moment calculation

distance
M = r × F Moment = position vector × force 3D moment calculation
vector
W = mg Weight = mass × gravity Finding body weight

Fx = F·cos θ Horizontal component Resolving angled forces

Fy = F·sin θ Vertical component Resolving angled forces

Good luck! Remember: FBD first, always.