Topic 3

Statics of Rigid Bodies in 2D

3.1 Force System
3.2 Moment of Forces
3.3 Equilibrium of Rigid Bodies
3.4 Friction
At the end of this lesson, the students should be able to:
• Identify the types of force system from their arrangements.
• Calculate the components of a force using trigonometry.
• Calculate the Resultant force in a system using force summation.
• Calculate moment of force.
• Define equilibrium condition using vector sum of forces and vector sum of
moment.
• Calculate the unknown forces in the rigid body using the equilibrium condition
method.
• Recognise friction as a force by analysing the relationship between the applied
force and the opposing force.
• Calculate the amount of friction force of an object on horizontal plan from the
normal reaction force and it coefficient of friction.
3.1 Force System

Any number of forces in a group constituted a force system.

All the forces of a force system may or may not lie in the same plane.

Coplanar, concurrent force system Coplanar, non-concurrent force system

Example 1: Identify the type of force system.

A gusset plate mounted on a wall and is subjected to three forces at

different positions. The dashed lines indicates the lines of actions and
they intersect at the point O
Example 2: Identify the type of force system.

A lever hinged at point B and resting at point A, is subjected to a load

of 150 N acting downward.
3.1.2 Resultant Forces

In the previous topic, it was shown that two or more forces (vectors) acting on
a body could be replaced by a single force which has the same effect on the
body. Thus a single resultant of 3.6 N 46.2o replace the two forces.

Extending the same example, if the 3 N and 4 N forces are 90o apart, a
resultant of 5 N 36.8o can be used to represent the net effect of both forces.
3.1.3 Resolution of Forces

A single force can be represented by 2 right angled forced in the horizontal and
vertical plane. Example, a force of 5 N at 36.8o can be represented by a
horizontal force of 4N and a vertical force of 3N. This reverse method of
representing any oblique force using a X-direction and a Y-direction forces is
called Resolution of Forces.
3.1.3 Resolution of Forces

Fx and Fy are the X and Y components of force F, and be determine from the
trigonometry function.
Fx = F cos 
Fy = F sin 

F = Fx + Fy
2 2

Fy
 = tan −1

Fx
3.1.3 Resolution of Forces

Sign Conventions
When adding more than two forces, it becomes useful if we use positive for one
direction and negative for another direction, so that by looking at the resultant
whether is it positive or negative, we know which direction the resultant should
follow. Let’s apply the concept to example 2 and we shall see how it works.

x direction: +ve -ve

y direction: +ve -ve
3.1.3 Resultant of a concurrent force

Example 1:
3.1.3 Resultant of a concurrent force

Example 1: continue..

Hence, resultant is 77.7N 29.5

3.1.3 Resultant of a concurrent force

Example 2: A gusset subjected to 3 forces shown in the diagram. Determine the

resultant of these forces acting of the gusset.
300N
Gusset Plate 300N
O 60o
O 30o

60o 200N
60o 200N

150N
150N

Σ𝐹𝑥 (+→) = 𝑅𝑥 Σ𝐹𝑦 (+↑) = 𝑅𝑦

300 cos 3 0° + 200 sin 6 0° = 𝑅𝑥 300 sin 3 0° − 200 cos 6 0° − 150 = 𝑅𝑦
259.8 + 173.2 = 𝑅𝑥 150 − 100 − 150 = 𝑅𝑦
433.01 = 𝑅𝑥 −100𝑁 = 𝑅𝑦
𝑅𝑥 = 433.01N(→) 𝑅𝑦 = 100N(↓)
3.1.3 Resultant of a concurrent force

Example 2: continue…

𝑅2 = 𝑅𝑥2 + 𝑅𝑦2
𝑅= 𝑅𝑥2 + 𝑅𝑦2

= 433.012 + 1002
= 444.41 𝑁

𝑅𝑦
tan 𝜃 =
𝑅𝑥
100 y
=
433.01 O
Rx x
𝜃 = tan−1 0 . 231 θ=13o
= 13° R=444.41 N
Ry

Hence, resultant is 444.41 N 13

3.1.3 Resultant of a concurrent force

Example 3: Find the resultant, R of the forces P & Q.

300 N
Now the x and y components of P and Q become:

Px = -200 cos 30 0
200 N
Py = 200 sin 30 0
Q x = 300 cos 60 0
Q y = 300 sin 60 0

Rx = Px + Qx = - 200 cos 30o + 300 cos 60o = - 23.2 N

Ry = Py + Qy = 200 sin 30o + 300 sin 60o = 359.8 N

By referring back to the sign conventions, we can rewrite Rx and Ry as:

Rx = 23.3 N  and Ry = 359.8 N 

R= 23.2 2 + 359.812 = 360.6N

359.81
 = tan -1 = 86.3 o Hence, resultant is 360.6N  86.3
23.2
 3.1.3 Resultant of a concurrent force

Example 4:
Find the
resultant of
the 4 forces.

Solution:
1. Assign names to all the forces (diagram on the right)
Resolve all forces into the x and y axis using trigonometry, form a table to organise.
x - component y - component
F1 5N  0
F2 7 cos 50 = 4.5 N  7 sin 50 = 5.36 N 
F3 6 sin 30 = 3 N  6 cos 30 = 5.2 N 
F4 0 4N
3.1.3 Resultant of a concurrent force

Example 4: continue…
2. Add up all the forces in the x direction, this will give the x component of the resultant
force, take note of the direction of the forces, +ve  :
Fx = Rx = 5 + 4.5 – 3 + 0 = 6.5 N  ;

Add up all the forces in the y direction, this will give the y component of the resultant
force, take note of the direction of the forces, +ve  :
FY = RY = 0 + 5.36 + 5.2 – 4 = 6.56 N 

3. The resultant force R, is found by pythagoras theorm : 𝑅 = 𝑅𝑥 2 + 𝑅𝑦 2

Thus, 𝑅 = (6.5)2 +(6.56)2 = 9.23 N

𝑅𝑦
4. The direction of the resultant can be found by : 𝜃 = 𝑡𝑎𝑛−1 (𝑅𝑥 )
6.56
Thus, 𝜃 = 𝑡𝑎𝑛−1 = 𝟒𝟓. 𝟐𝟔𝒐
6.5
The direction symbol is found by the constructing the arrow of the resultant Rx and Ry :
Rx Ry = R , Thus the final answer is R = 9.23 N  45.26 o
 3.1.4 Equilibrium Condition

If the resultant force of a concurrent force system is zero, ie R = 0 N, we say that the
force system is in an equilibrium state. In order to fulfill this criteria, the following
conditions must be fulfilled:

ΣFx = 0 ; ΣFy = 0

Notice that the force system of the left produced a resultant force of R. If an extra force
of C equal in magnitude to R but opposite in direction is to be added, the resultant is
zero or we can say the system is in equilibrium. This can also be referred as a closed
polygon.(right force system).
3.1.4 Equilibrium Condition

Example 5: A 10 Kg lamp is supported by cable A, B and C. Find the tension in each

cable. (Ans : TA = 119.74 N , TB = 125.35 N )
 3.2 Moment of forces

3.2.1 Non-Concurrent force system.

More than one point where forces are acting upon.

Introduction of moment in a force system – is a measure of tendency to cause a body to
rotate about a specific point or axis.
Example: a spanner is used to loosen a tighten nut. By exerting a force on the spanner, a
moment (or Torque) has been introduced such that it will cause a rotation about the nut
and eventually loosening the nut.

Turning Effect about the Nut (Moment) = Applied Force, F x perpendicular distance
away from Nut, d
3.2 Moment of forces

3.2.2 Sign Conventions

Like the case of force, moment is a vector quantity. Hence its magnitude and direction
must be specified.

F
A F will result in the body turning
clockwise about pivot A, , or
+ve moment.

A F will result in the body turning

anti-clockwise about pivot A, ,
F or –ve moment.

*You can give your answer either in clockwise or anti-clock symbol or use
positive or negative answer but not both.
3.2 Moment of forces

Example 2: Calculate the moment of the 500 N force about the point A.

Set +ve 

0.3 m 1.2 m MA = F x perpendicular distance

500 N = 500 x 1.5
A = 750 Nm .

The moment about A is 750 Nm

clockwise.
3.2 Moment of forces

Example 3: Calculate the resulting moment of the forces about point A.

Set +ve 
5m
MA = 2 x 5 – 4 x 3
2N
= -2 Nm 
A
or 2 Nm .
3m 4N
The moment of foces about A
is 2 Nm anti-clockwise.
3.2 Moment of forces

Example 4: Calculate the resulting moment of the forces about point A.

Set +ve 
2m 3m
MA = 1.5 x 3 – 4 x 2
4N 1.5 N
A = -3.5 Nm 
or 3.5 Nm .

The moment of forces about A

is 3.5 Nm anti-clockwise.
3.2 Moment of forces

Example 5: Calculate the resulting moment of the forces about point A.

Set +ve 
5m
MA = 2 x 5 – 4 x 3
2N
= -2 Nm 
A
or 2 Nm .
3m 4N
The moment of forces about A is 2
Nm anti-clockwise.
 3.2 Moment of forces

3.2.3 Oblique condition

If the applied force is not perpendicular to the distance, we have to resolve the force or
the distance so that they are perpendicular to each other.
Example 6: solution1: Resolve F into x and y component.

d d Set +ve 
F
 Fy MA = Fy x d

A A = Fcos .d Nm 
Fx

Fx Fx is not used because the

From trigonometry:
 perpendicular distance from
Fy F Fx = F sin 
Fx to A is Zero.
Fy = F cos 
 3.2 Moment of forces

3.2.3 Oblique condition

If the applied force is not perpendicular to the distance, we have to resolve the force or
the distance so that they are perpendicular to each other.
Example 6: solution2: Resolve distance d to be perpendicular to
force F
d Set +ve 
F
 MA = F x d cos
d
A F = [Link] Nm 

Distance dsin ө is not used
A
as there is no force acting
 d sin
d cos perpendicular to it.

*Notice both methods yield the same answer.

3.3 Equilibrium of Rigid Bodies

3.3.1 Equilibrium conditions of non-concurrent force system

A body is in static equilibrium when all forces applied on the body are in balanced.
For complete static equilibrium, three requirements must be met:
1. Horizontal force balanced, i.e. left forces = right forces
2. Vertical forces balanced, i.e. upward forces = downward forces.
3. Moment balance; i.e. clockwise moments = anti-clockwise moment.

These requirements can be stated in the following forms:

Fx = 0 (The algebraic sum of all horizontal forces must be zero so that no rigid
body movement in the X-direction is noted)

Fy = 0 (The algebraic sum of all vertical forces must be zero so that no rigid body
movement in the Y-direction is noted)

M = 0 (The algebraic sum of all moments must be zero, so that clockwise moments =
anti-clockwise moments.)
3.3 Equilibrium of Rigid Bodies

3.3.2 General procedures for solving non-current force system

1. Draw the free body diagram. (refer to chapter 2)

2. Apply the conditions for equilibrium, ie: Fx = 0; Fy = 0; M = 0

3. Analyze the above three conditions and decided which condition to be

applied first. Usually, this is the condition with least unknowns.

4. If the calculated unknown is negative, it implies that the presumed

direction is false. So the correct direction should be opposite. If the
calculated unknown is positive, it means the presumed direction is
correct.

5. Apply the other conditions until all unknowns are solved.

3.3 Equilibrium of Rigid Bodies

3.3.2 Example 7: Find the reactions RA and RB of the force system shown below, given
that A is a hinge join and B is a roller support. (Ans: RA = 600 N ; RB = 900 N )
3.3 Equilibrium of Rigid Bodies

3.3.2 Example 8: A beam of mass 8 kg is used to support a load of 5 kg in the position

as shown, find the tension in the cable and the reaction at the pivot A.
(Ans: Tension C = 211.14 N; Reaction at A = 201.67 N  13.9o)
3.3 Equilibrium of Rigid Bodies

3.3.2 Example 9: Find the reaction at pivot A and roller C.

(Ans: Reaction at A = 1867.6 N 27.6o; Reaction at C = 1154.7 N → )
3.4 Friction

Introduction:

• Occurs when a body moves or tends to move over a rough surface.

• Resist motion or tendency to move.
• Arises because of irregularities on the surfaces in contact.
• Depends on the materials in contact. i.e: glass gives rise to less friction than leather.
• Can be reduced by lubricating the contacting surfaces.
• Is proportional to the force pressing the surfaces together.
• Is independent of the area of contact.
3.4 Friction

Law of friction:

• Friction tends to oppose motion, i.e. it acts in the direction opposite to the direction
of motion or impending motion.
• The force of friction is tangential to the surfaces in contact.
• Friction is independent of the area of the surfaces in contact.
• The maximum friction force (limiting friction, Fr) is proportional to the normal
reaction (Rn) between the surfaces in contact. i.e: Fr Q Rn
• If motion has started, the kinetic friction Fk is proportional to the normal reaction,
but is less than Fr.
Rn Rn Rn

P P
F Fr

mg mg mg
P=0, F=0 F increase QP P > Fr
No motion No Motion Motion occurred
3.4 Friction

• We shall deal only with problems involving cases of impending motion.

“kinetic friction will be discussed in chapter 6”
• Since the body is in equilibrium all forces acting on it are resolved into 2 mutually
perpendicular directions and can be treated as a concurrent force system.
Procedure for solving friction problems:
1. Sketch the free body diagram of the body in concern.
2. Find the normal reaction, Rn by resolving forces perpendicular to the contact
surface.
3. The limiting friction can then be found using the following formula:

Fr = µs Rn where Fr is the limiting friction force

µs is know as the coefficient of static friction
Rn is the normal reaction force
µk is know as the coefficient of kinetic friction
“ will be discussed in chapter 6”
3.4 Friction

Example 10: A block of mass 6 kg rests on a the horizontal flat surface of a bench.
The coefficient of static friction between the two surfaces is 0.4. What is the force P to
cause impending motion? (Ans: 23.54 N)

6 kg
3.4 Friction

Example 11: A block of mass 6 kg rests on a the horizontal flat surface of a bench. The
coefficient of static friction between the two surfaces is 0.4. What is the value of force
P if it is applied 20o to the horizontal. (Ans: 21.87 N)

20o

6 kg
3.4 Friction
Angle of friction Ø

Consider a block at the point of impending motion, the resultant R, of Fr and Rn will
make an angle Ø with the normal reaction. R is know as the total reaction and angle Ø
know as the angle of friction.
Rn R Rn
P
Fr Ø
Fr

mg
Fr
From trigonometry, tan∅ = = μs
Rn
3.4 Friction
Angle of Repose s

The value of µs can be found experimentally by placing a block on a horizontal plane

which is then gradually tilted. The block will remain at rest until it reaches a value
when the block is in a state of impending motion. This angle, s is know as the angle of
repose.

Rn Fr At impending motion,

Fr = mg sin s
[Link] s Rn = mg cos s
s mg sins
s [Link] s Fr
= = tans = µs
Rn mg coss
mg

Consider a block placed on an inclined plane,

If the inclined angle is less than s, it will not slide under its own weight.
If inclined angle is equal to s, motion is impending.
If the inclined angle is > s, the block will slide down under its own weight.
3.4 Friction
Example 12. The coefficient of static friction between the block and the plane is 0.25.
Determine the magnitude of force P acting along the inclined plane required to:

a) just start the block moving up the inclined plane. (Ans: 848.97 N)
b) prevent the block from slipping down the inclined plane. (Ans: 157.59 N)

P
20o

150 kg