3-2

Chapter 4

Equilibrium of rigid bodies

 Introduction
4-2
• For a rigid body in static equilibrium, the external forces and
moments are balanced and will impart no translational or rotational
motion to the body.

• The necessary and sufficient condition for the static equilibrium of a

body are that the resultant force and couple from all external forces
form a system equivalent to zero,
   
 F  0  M O   r  F   0

• Resolving each force and moment into its rectangular components

leads to the maximum of six scalar equations which also express the
conditions for static equilibrium,
 Fx  0  Fy  0  Fz  0
Mx  0 My  0 Mz  0
 Reactions at Supports and Connections for a Two-
4-3 Dimensional Structure

• Reactions equivalent to a
force with known line of
action.
 Reactions at Supports and Connections for a Two-
4-4
Dimensional Structure

• Reactions equivalent to a
force of unknown direction
and magnitude.

• Reactions equivalent to a
force of unknown
direction and magnitude
and a [Link] unknown
magnitude
 Examples of Supports and Connections
4-5

Roller support
 Examples of Supports and Connections
4-6

Pin support
 Examples of Supports and Connections
4-7

Fixed support
 Free-Body Diagram
4-8 First step in the static equilibrium analysis of a rigid
body is identification of all forces acting on the
body with a free-body diagram.

• Select the extent of the free-body and detach it

from the ground and all other bodies.

• Indicate point of application, magnitude, and

direction of external forces, including the rigid
body weight.

• Indicate point of application and assumed

direction of unknown applied forces. These
usually consist of reactions through which the
ground and other bodies oppose the possible
motion of the rigid body.

• Include the dimensions necessary to compute

the moments of the forces.
 Free-Body Diagram
4-9

The “spanner wrench” is

subjected to the force F. To
draw the free body diagram
of the wrench, it is assumed
that
(1) the support at A can be
considered a pin, and
(2) the surface of contact at
B is smooth. And hence
there is only a normal
force.
4 - 10 Group problem solving

Draw the free-body diagram of the uniform bar, which has mass M and center
of mass at G. The supports A, B, and C are smooth.
 Condition of equilibrium in 2D space
4 - 11

• Condition of equilibrium implies that net total force (resultant force) and the total
moments (about any points in the structure) must be zero.

F2 F  0 M  0
F1
• In 2D structures, the above two
y vector equations results in three
scalar equations.
M1
Fi Fx  0
x Fy  0
M z  0

• The moment equilibrium must be satisfied about any point on or outside the
body.
 Equilibrium of a Rigid Body in Two Dimensions
4 - 12
• For all forces and moments acting on a two-
dimensional structure,

• Equations of equilibrium then become

 Fx  0  Fy  0  M A  0
where A is any point in the plane of the
structure.

• The 3 equations can be solved for no more

than 3 unknowns.

• The 3 equations can not be augmented with

additional equations, but they can be replaced
 Fx  0  M A  0  M B  0
 Statically Indeterminate Reactions
4 - 13

• More unknowns than • Fewer unknowns than • Equal number unknowns

equations equations, partially and equations but
constrained improperly constrained
 Sample Problem 4.1
4 - 14
SOLUTION:
• Create a free-body diagram for the crane.

• Determine reaction at B by solving the

equation for the sum of the moments of
all forces about A. Note there will be
no contribution from the unknown
reactions at A.

• Determine the reactions at A by

A fixed crane has a mass of 1000 kg solving the equations for the sum of
and is used to lift a 2400 kg crate. It all horizontal force components and
is held in place by a pin at A and a all vertical force components.
rocker at B. The center of gravity of
• Check the values obtained for the
the crane is located at G.
reactions by verifying that the sum of
Determine the components of the the moments about B of all forces is
reactions at A and B. zero.
 Sample Problem 4.1
4 - 15
• Determine reaction at B:

 M A  0 :  B1.5m   9.81 kN 2m 

 23.5 kN 6m   0
B  107.1 kN

• Determine the reactions at A by solving the

equations for the sum of all horizontal forces
and all vertical forces.
 Fx  0 : Ax  B  0
Ax  107.1 kN
• Create the free-body diagram.
 Fy  0 : Ay  9.81 kN  23.5 kN  0
Ay  33.3 kN

• Check the values obtained.

 Sample Problem 4.2
4 - 16
SOLUTION:
• Create a free-body diagram for the car
with the coordinate system aligned
with the track.

• Determine the reactions at the wheels

by solving equations for the sum of
moments about points above each axle.

• Determine the cable tension by

A loading car is at rest on an inclined solving the equation for the sum of
track. The gross weight of the car and force components parallel to the track.
its load is 5500 lb, and it is applied at
G. The cart is held in position by the • Check the values obtained by verifying
cable. that the sum of force components
perpendicular to the track are zero.
Determine the tension in the cable and
the reaction at each pair of wheels.
 Sample Problem 4.2
4 - 17
• Determine the reactions at the wheels.
 M A  0 :  2320 lb  25in.  4980 lb  6in.
 R2 50in.  0
R2  1758 lb

 M B  0 :  2320 lb  25in.  4980 lb  6in.

 R1 50in.  0
R1  562 lb
• Create a free-body diagram
• Determine the cable tension.
W x  5500 lb  cos 25 
 Fx  0 :  4980 lb  T  0
 4980 lb
T  4980 lb
W y  5500 lb  sin 25 

 2320 lb
 Sample Problem 4.3
4 - 18

• There are two components of

the reaction at A (in
horizontal and vertical
directions) and one vertical
component of the reaction
force at B.

The beam is pin-connected at A and rocker-supported at B.

Determine the reactions at the pin A and at the roller at B.
Given: F = 500 N, M = 800 N.m, a = 8 m b = 4 m c = 5 m
 Sample Problem 4.3
4 - 19
 Sample Problem 4.3
4 - 20
4 - 21 Sample Problem 4.4
SOLUTION:
• Create a free-body diagram for the
frame and cable.

• Solve 3 equilibrium equations for the

reaction force components and
couple at E.

The frame supports part of the roof of

a small building. The tension in the
cable is 150 kN.
Determine the reaction at the fixed
end E.
 Sample Problem 4.4
4 - 22
• Solve 3 equilibrium equations for the
reaction force components and couple.
4.5
 Fx  0 : E x  150 kN   0
7.5
E x  90.0 kN

6
 Fy  0 : E y  420 kN   150 kN   0
7.5
E y  200 kN

 M E  0 :  20 kN 7.2 m   20 kN 5.4 m 
 20 kN 3.6 m   20 kN 1.8 m 
6
• Create a free-body diagram for  150 kN 4.5 m  M E  0
the frame and cable. 7.5
M E  180.0 kN  m
 Equilibrium of a Two-Force Body
4 - 23
• Consider a plate subjected to two forces F1 and F2

• For static equilibrium, the sum of moments about A

must be zero. The moment of F2 must be zero. It
follows that the line of action of F2 must pass
through A.

• Similarly, the line of action of F1 must pass

through B for the sum of moments about B to be
zero.

• Requiring that the sum of forces in any direction be

zero leads to the conclusion that F1 and F2 must
have equal magnitude but opposite sense.
 Concept question
4 - 24

• For the statically indeterminate frame shown, how the

reaction forces at C and D can be determined?
4 - 25 Sample Problem 4.5
• For the frame shown, determine the reaction forces at B
and D when b=60 mm.

• CD is a two force member, Hence the reaction force at D

must pass through C.
 Sample Problem 4.5
4 - 26 a  45
  Fx  0 Dx  Bx  0
  Fy  0  Dy  By  80  0
M B  0 Dx (60  75)  Dy (75  90)  80(250)  0

• Since a=45°, then Dx=Dy

Dx  Bx  0
 Dx  By  80
Dx (135)  Dx (165)  80(250)
Dx  666.67 N 
Dy  666.67 N  D  Dx2  Dy2  666.67 2  942.8 N
Bx  666.67 N  B  Bx2  By2  666.67 2  586.67 2  888 N
By  586.67 N 
 Equilibrium of a Three-Force Body
4 - 27

• Consider a rigid body subjected to forces acting at

only 3 points.

• Assuming that their lines of action intersect, the

moment of F1 and F2 about the point of intersection
represented by D is zero.

• Since the rigid body is in equilibrium, the sum of the

moments of F1, F2, and F3 about any axis must be
zero. It follows that the moment of F3 about D must
be zero as well and that the line of action of F3 must
pass through D.

• The lines of action of the three forces must be

concurrent or parallel.
 Group problem solving
4 - 28
 Group problem solving
4 - 29
• This problem can be solved by two methods:
graphical method using geometry properties
and equilibrium equations method.

• Graphical solution using

geometry properties method.

• At point A there are two

unknown reactions. These
reaction forces can be replaced
by a single resultant force A with
unknown magnitude and
direction.

Free body diagram

 Group problem solving
4 - 30

• Equilibrium condition dictates

that all three forces pass through
a common point E.

10
tan    0.417,   22.62
24

• In the triangle DEH, the side

DH=AF=12 in.

EH  DH .tan   12  0.417  5 in.

• In the triangle AFE, the angle a is

EF 18  5
tan a    1.917
AF 12
a  62.447
Free body diagram
 Group problem solving
4 - 31

• Now, sine relationship can be

applied to the force triangle as
depicted.

• Equilibrium equations
• Equilibrium equation in 2D

 Fx  0  Fy  0  M A  0
 Group problem solving
4 - 32
• Forces at A and B are decomposed to two
vertical components

Fx  Tx  Ax  0
Fy  Ty  Ay  40  0

M A  Tx (18)  Ty (24)  40(12)  0

• Now we have three equations

with four unknowns. An extra
equation can be derived from the
fact that cables only resist
tension forces. Therefore, the
resultant of Tx and Ty must be in
the direction of the cable BD.
 Group problem solving
4 - 33
Ty
tan a 
Tx
10
Ty  Tx  tan a  Tx   0.417Tx
24
• Solution of simultaneous equations:

M A  Tx (18)  0.417Tx (24)  40(12)  0

Tx  17.14 lb
Ty  0.417Tx  0.417  17.14  7.15 lb

T  Tx2  Ty2  (17.14) 2  (7.15) 2  18.57 lb

Fx  Tx  Ax  17.14  Ax  0 Ax  17.14 lb

Fy  Ty  Ay  40  7.15  Ay  40  0
Ay  32.85 lb
A  Ax2  Ay2  (17.14)2  (32.85) 2  37.1 lb
 Concept question
4 - 34

• For the frame shown, where support B should the located

to carry the minimum reaction force.
 Equilibrium of a Rigid Body in Three Dimensions
4 - 35

• Six scalar equations are required to express the

conditions for the equilibrium of a rigid body in the
general three dimensional case.

 Fx  0  Fy  0  Fz  0
Mx  0 My  0 Mz  0

• These equations can be solved for no more than 6

unknowns which generally represent reactions at supports
or connections.

• The scalar equations are conveniently obtained by applying the

vector forms of the conditions for equilibrium,
   
 F  0  M O   r  F   0
 Reactions at Supports and Connections for a
4 - 36 Three-Dimensional Structure
 Reactions at Supports and Connections for a
4 - 37 Three-Dimensional Structure
 Reactions at Supports and Connections for a
4 - 38 Three-Dimensional Structure

Ball and socket support in

communication antenna

Ball and socket mechanism details

 Reactions at Supports and Connections for a
4 - 39 Three-Dimensional Structure

Roller on rail support

Universal joints
 Reactions at Supports and Connections for a
4 - 40 Three-Dimensional Structure

Pin and bracket support

 Sample Problem 4.6
4 - 41
SOLUTION:
• Create a free-body diagram for the
plate.
• Apply the conditions for static
equilibrium to develop equations for
the unknown reactions.

A plate of uniform density weighs

270 lb and is supported by a ball-and-
socket joint at A and by two cables.
Determine the tension in each cable
and the reaction at A.
 Sample Problem 4.6 Since there are only 5 unknowns,
4 - 42 the plate is partially constrain. It is
free to rotate about the x axis. It is,
however, in equilibrium for the
given loading.
  
rD  rB
TBD  TBD  
rD  rB
  
 8i  4 j  8k
 TBD
12
 1 2

 TBD  3 i  3 j  3 k
2 
  
rC  rE
TEC  TEC  
rC  rE
  
 6i  3 j  2 k
• Create a free-body diagram for the  TEC
sign. 7
 3 2

 TEC  7 i  7 j  7 k
6 
 Sample Problem 4.6
    
4 - 43 F  A  TBD  TEC  270 lb  j  0

i: Ax  23 TBD  76 TEC  0

j: Ay  13 TBD  73 TEC  270 lb  0

k: Az  23 TBD  72 TEC  0
      
MA  rB  TBD  rE  TEC  4 ft i   270 lb  j  0

j: 5.333TBD  1.714 TEC  0

k: 2.667 TBD  2.571TEC  1080 lb  0

Solve the 5 equations for the 5 unknowns,

• Apply the conditions for

static equilibrium to TBD  101.3 lb TEC  315 lb
   
develop equations for the A  338 lbi  101.2 lb  j  22.5 lbk
unknown reactions.
 Sample Problem 4.7
4 - 44

• The wing of the jet aircraft is subjected to thrust T from its engine
and the resultant lift force L. If the mass of the wing is M and the
mass center is at G, determine the x, y, z components of reaction
where the wing is fixed to the fuselage at A.
 Sample Problem 4.7
4 - 45
• Equilibrium of forces
 Sample Problem 4.7
4 - 46
• Equilibrium of moments
 Group problem solving
4 - 47
Two transmission belts pass over a
double-sheaved pulley that is
attached to an axle supported by
bearings at A and D. The radius of
the inner sheave is 125 mm and the
radius of the outer sheave is 250
mm. Knowing that when the
system is at rest, the tension is 90
N in both portions of belt B and
150 N in both portions of belt C,
determine the reactions at A and D.
Assume that the bearing at D does
not exert any axial thrust. (Neglect
My and Mz reactions at the
bearings)
 Group problem solving
4 - 48

Free body diagram

Ay
Ax
150 mm
A B 100 mm 300 N
z Az
C 200 mm
Dz

180 N D

Dy x
 Group problem solving y

4 - 49 Ay
Ax
Equilibrium equations: A
150 mm
B 100 mm 300 N
Fx  0 Ax  0 z Az
C
Fx  0 Ay  Dy  180  0
200 mm
Dz

Fz  0 Az  Dz  300  0 180 N D

( M x ) A  0 0  0 Dy x

( M y ) A  0 Dz (450)  300(250)  0
( M z ) A  0 Dy (450)  180(150)  0
Solution:
Ax  0, Ay  120 N  Az  133.33 N
Dx  0, Dy  60 N  Dz  166.67 N

A  Ax2  Ay2  Az2  1202  133.332  179.4 N

D  Dx2  Dy2  Dz2  602  166.67 2  177.1 N