STATICS OF RIGID BODIES

Module 3
Module Title: Equilibrium

Module Description: This module covers the determination and application of the conditions
necessary to produce equilibrium for coplanar force systems. The principles and techniques
developed in this module are the basic fundamentals of statics.

Purpose of the Module:

This module let the students apply the basic concepts of the components of forces and
its moment effect in order to attain an equilibrium.

Module Guide:

Each lesson in the module begins with a pre-test to test the awareness of the students
either of the lesson itself or of the previous lesson/s needed to understand the current lesson. It
is then followed by a discussion, a set of exercises wherein answers are provided in the “Let’s
Check” portion of the module and finally with a post-test.

Link to videos and/ or other reading materials are also given to reinforce the learnings
for each lesson presented.

Module Outcomes:
1. Understand the concepts of forces and moments of forces.
2. Apply the principles of static equilibrium from the knowledge of resultants of forces
and moments.

Module Requirements:

At the end of this module, the students will submit the following:

1. An educational video of at least one of the lesson presented in this module.

2. Answer to all the exercises of each lesson.
3. Take a module post-test.

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Learning Plan
Lesson No: 1

Lesson Title: Free-body Diagrams

Let’s Hit These:

At the end of this lesson, students should be able to:
§ Determine the resultant of concurrent, parallel and non-concurrent coplanar
force systems.

Let’s Get Started:

The subject matter of statics, as its name implies, deals essentially with the action of
forces on bodies which are at rest. Such bodies are said to be in equilibrium.

A body is said to be in equilibrium if the resultant of the force system that acts on the
body vanishes. Equilibrium means that both the resultant force and the resultant couple are
zero. The physical meaning of equilibrium, as applied to a body, is that the body either is
at rest or is moving in a straight line with constant velocity.

Formula for equilibrium of force systems: (24)

Concurrent Parallel Non-Concurrent, Non-Parallel
Σ𝐹# = 0 ΣF = 0 Σ𝐹# = 0
Σ𝐹' = 0 Σ𝑀) = 0 Σ𝐹' = 0
Σ𝑀) = 0

Let’s Read:

The first step in equilibrium analysis is to identify all the forces that act on the body.
This is accomplished by means of a free-body diagram.

The free-body diagram (FBD) of a body is a sketch of the body showing all forces that
act on it. The term free implies that all supports have been removed and replaced by the
forces (reactions) that they exert on the body.

The importance of mastering the FBD technique cannot be overemphasized. Free-body

diagrams are fundamental to all engineering disciplines that are con- cerned with the effects
that forces have on bodies. The construction of an FBD is the key step that translates a
physical problem into a form that can be analyzed mathematically.

Forces that act on a body can be divided into two general categories—reactive forces
(or, simply, reactions) and applied forces. Reactions are those forces that are exerted on a
body by the supports to which it is attached. Forces acting on a body that are not provided
by the supports are called applied forces. Of course, all forces, both reactive and applied,
must be shown on free-body diagrams.

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The following is the general procedure for constructing a free-body diagram.

1. A sketch of the body is drawn assuming that all supports (surfaces of contact,
supporting cables, etc.) have been removed.
2. All applied forces are drawn and labeled on the sketch. The weight of the body is
considered to be an applied force acting at the center of gravity.
3. The support reactions are drawn and labeled on the sketch. If the sense of a reaction is
unknown, it should be assumed. The solution will determine the correct sense: A
positive result indicates that the assumed sense is correct, whereas a negative result
means that the correct sense is opposite to the assumed sense.
4. All relevant angles and dimensions are shown on the sketch.

When you have completed this procedure, you will have a drawing (i.e., a free- body
diagram) that contains all of the information necessary for writing the equilibrium equations
for the body.

Table 1.5 shows the reactions exerted by various coplanar supports; it also lists the
number of unknowns that are introduced on an FBD by the removal of each support. To be
successful at drawing FBDs, you must be completely familiar with the contents of Table
1.5. It is also helpful to understand the physical reasoning that determines the reactions at
each support, which are described below.

(a) Flexible Cable (Negligible Weight). A flexible cable exerts a pull, or tensile force, in
the direction of the cable. With the weight of the cable neglected, the cable forms a straight
line. If its direction is known, removal of the cable introduces one unknown in a free-body
diagram—the magnitude of the force exerted by the cable.

(b) Frictionless Surface: Single Point of Contact. When a body is in contact with a
frictionless surface at only one point, the reaction is a force that is perpendicular to the
surface, acting at the point of contact. This reaction is often referred to simply as the
normal force. Therefore, removing such a surface introduces one unknown in a free-body
diagram—the magnitude of the normal force. If contact between the body and the surface
occurs across a finite area, rather than at one point, the line of action of the resultant normal
force will also be unknown.

(c) Roller Support. A roller support is equivalent to a frictionless surface: It can only exert
a force that is perpendicular to the supporting surface. The magnitude of the force is thus
the only unknown introduced in a free-body diagram when the support is removed.

(d) Surface with Friction: Single Point of Contact. A friction surface can exert a force that
acts at an angle to the surface. The unknowns may be taken to be the magnitude and
direction of the force. However, it is usually advantageous to represent the unknowns as N
and F, the components that are perpendicular and parallel to the surface, respectively. The
component N is called the normal force, and F is known as the friction force. If there is an
area of contact, the line of action of N will also be unknown.

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Table 1.5 Free-body Diagram

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(e) Pin Support. A pin is a cylinder that is slightly smaller than the hole into which it is
inserted, as shown in Fig. 3.1(a). Neglecting friction, the pin can only exert a force that is
normal to the contact surface, shown as R in Fig. 3.1(b). A pin support thus introduces two
unknowns: the magnitude of R and the angle α that specifies the direction of R (α is
unknown because the point where the pin contacts the surface of the hole is not known).
More commonly, the two unknowns are chosen to be perpendicular components of R, such
as Rx and Ry shown in Fig. 3.1(c).

Figure 3.1

(f) Built-in (Cantilever) Support. A built-in support, also known as a cantilever support,
prevents all motion of the body at the support. Translation (horizontal or vertical
movement) is prevented by a force, and a couple prohibits rotation. Therefore, a built-in
support introduces three unknowns in a free-body diagram: the magnitude and direction of
the reactive force R (these unknowns are commonly chosen to be two components of R,
such as Rx and Ry ) and the magnitude C of the reactive couple.

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Table 1.6 Free-body Diagram for Three-Dimensional Loading

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Table 1.6 Free-body Diagram for Three-Dimensional Loading (Continuation)

Example 1.1 The homogeneous 6m bar AB in the figure is supported in the vertical plane
by rollers at A and B and by a cable at C. The mass of the bar is 50 kg. Draw the FBD of bar
AB. Determine the number of unknowns on the FBD.

Figure 3.2
Solution:

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The FBD of bar AB is shown. The first step in the construction of this diagram is to
sketch the bar, assuming the supports have been removed. Then the following forces are
added to the sketch.

Figure 3.3

W: The Weight of the Bar

The weight W is shown as a vertical force acting at G, the center of gravity of the bar.
Because the bar is homogeneous, G is located at the center of the bar. The magnitude of the
weight is W = mg = (50)(9.81) = 491 N.

NA: The Normal Reaction at A

Removal of the roller support at A dictates that we show the force that this support can exert
on the bar. From Table 4.1, we note that a roller support can exert a single force that is
normal to the supporting surface. Therefore, on the FBD we show the reaction at A as a
vertical force and label its magnitude as NA.

NB: The Normal Reaction at B

Following an argument similar to that for NA, we conclude that the removal of the roller
support at B means that we must show a horizontal force at that point. On the FBD, we label
this reaction as NB .

T: The Tension in the Cable at C

From Table 4.1, the force exerted by a cable is a tensile force acting in the direction of the
cable. Therefore, the force exerted on the bar by the cable is shown as a force of magnitude
T, acting at 20◦ to the horizontal.

We note that there are three unknowns on the FBD: the magnitudes of the three reactions
(NA, NB, and T).

Example 1.2 The homogeneous, 250-kg triangular plate in Fig. (a) is supported by a pin at
A and a roller at C. Draw the FBD of the plate and determine the number of unknowns.

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Figure 3.4
Solution:

The FBD of the plate is shown in Fig. (b). The pin and roller supports have been
removed and replaced by the reactive forces. The forces acting on the plate are described
below.

W: The Weight of the Plate

The weight of the plate is W = mg = (250)(9.81) = 2453 N. It acts at the centroid G of the
triangle ABC. Only the horizontal location of G is shown in the figure, because it is sufficient
to determine the line of action of W.

Ax and Ay : The Components of the Pin Reaction at A

From Table 4.1, we see that a pin reaction can be shown as two components Ax and A y ,
which are equivalent to an unknown force acting at an unknown angle. We have shown Ax
acting to the right and Ay acting upward. These directions were chosen arbitrarily; the
solution of the equilibrium equations will determine the correct sense for each force.

NC : The Normal Reaction at C

From Table 3.1, the force exerted by a roller support is normal to the inclined surface.
Therefore, on the FBD we show the force NC at C, inclined at 30◦ to the vertical.

The FBD contains three unknowns: Ax , Ay , and NC .

Example 1.3 A 200-lb cylinder is supported by a horizontal rod AB and rests against the
uniform bar CD which weighs 100lb. Draw the free body diagrams a) of rod AB, and b) of
the cylinder, c) of bar CD, and d) of the assembled rod and bar.

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Figure 3.5
Solution:

We assumed pins A, B, C, D and the rollers to be smooth and frictionless unless

mentioned as rough and with friction. The rod AB is also assumed to be weightless.

a.) b.)

c.) d.)

Let’s Do This:

Exercise 3.1

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1. A rigid frame is fabricated by joining the three bars with pins at B, C, and D, as shown.
The frame is loaded by the 1000-lb force and the [Link] couple. The supports consist
of a pin at A and a roller support at E. Draw the FBD of the frame, neglecting the
weights of the members. How many unknowns are on the FBD?

2. The beam ABC, built into the wall at A and supported by a cable at C, carries a
distributed load over part of its length, as shown. The weight of the beam is 70 lb/ft.
Draw the FBD of the beam. How many forces are on the FBD?

3. The homogeneous triangular plate has a mass of 12 kg. Draw the FBD of the plate for
each set of supports shown in (a)–(d) and determine the number of unknowns.

Learning Plan
Lesson No: 2

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Lesson Title: Equilibrium of Coplanar Concurrent Force System

Let’s Hit These:

At the end of this lesson, students should be able to:
§ Solve problems involving coplanar concurrent force systems.

Let’s Read:

The conditions of equilibrium for concurrent force systems are obtained by determining
the equations that produce a zero resultant and therefore exist when the following equations
are satisfied:
Σ𝐹# = 0 or Σ𝐹+ = 0; The sum of all forces in the x-direction or horizontal is zero.
Σ𝐹' = 0 𝑜𝑟 Σ𝐹. = 0; The sum of all forces in the y-direction or vertical is zero.

These equations are known as the equations of equilibrium. It is important to note that
with two conditions of equilibrium, only two unknown quantities can be determined to
create equilibrium of a concurrent force system.

Important Points for Equilibrium of Concurrent Forces

• If a body is held in equilibrium by two forces, the forces must be equal in
magnitude and oppositely directed along the same line of action.
• Three non-parallel, coplanar forces that hold a body in equilibrium must be
concurrent.
• Three or more concurrent forces in equilibrium form a close polygon when
connected in head-to-tail manner.

Sometimes, it is also possible to express the conditions of equilibrium in terms of

moment summations instead of X and Y summations. The advantage of expressing
equilibrium in terms of moment summations is that any particular force can be eliminated
by taking moments about a center on its line of action.

Since the moment effect of a system of forces is equal to the moment of its resultant, a
moment summation of a system of forces becomes zero if either,

a.) The center of moments is on the action line of the resultant, i.e., d = 0 or
b.) The magnitude of the resultant is zero, which indicates equilibrium.

Σ𝑀) = 0 ; The sum of all the moments at any point is zero.

Example 2.1 The cable and boom shown in the figure support a load of 600 lb. Determine
the tensile force T in the cable and the compressive for C in the boom.

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Figure 3.6

Solution:

The first step is to draw the free-body diagram of the force system and indicate all the
forces involved. Assume the sense of reaction of cables as either Tension or Compression.
If the answer comes out positive, then our assumption is correct, else it’s sense is the
opposite.

The second step is to derive the equations of equilibrium using the FBD.

Σ𝐹0 = 0
𝐶 cos 45° = 𝑇 cos 30°
𝐶 = 1.2247T

Σ𝐹> = 0
𝑇 sin 30 ° + 𝐶 sin 45° − 600 = 0
𝑇 sin 30 ° + (1.2247𝑇) sin 45° = 600 𝐶 = 1.2247T
1.366T = 600 𝐶 = 1.2247(439.24𝑙𝑏)
𝑻 = 𝟒𝟑𝟗. 𝟐𝟒𝒍𝒃 C = 537.94 lb
Example 2.2 The system of knotted cords shown support the indicated weights. Compute
the tensile force in each cord.

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Figure 3.7

Solution:

FBD:

For this type of problem, we always start at the connection with lesser
unknowns. For this example, we start with the knot with 400lb hanging load.

From the knot where 400-lb load is hanging

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From the knot where 300-lb load is hanging

Take note that cord C is in Tension in the 400lb knot connection. Therefore, it will
always be in Tension in the knot below since it’s the same cord connecting the two knots.

Example 2.3 The Fink truss shown is supported by a roller at A and a hinge at B. The given
loads are normal to the inclined member. Determine the reactions at A and B. Hint: Replace
the loads by their resultant.

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Figure 3.8

Solution:

FBD:

Solving for the resultant,

R = 2(1000) + 3(2000) = 8000lb

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Thus, RB = 4618.80lb at 30° with horizontal answer

Example 2.4 The cylinders in the figure shown have the indicated weights and dimensions.
Assuming smooth contact surfaces, determine the reactions at A, B, C, and D on the
cylinders.

Figure 3.9

Solution:

FBD:

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From the FBD of 200 KN cylinder From the FBD of 400 kN cylinder

Let’s Do This:

Exercise 3.2

1. Forces P and F acting along the bars shown maintain equilibrium of pin A. Determine
the values of P and F.

2. Determine the pin reactions at A and all forces acting on member DEF of the frame
shown. Neglect the weights of the members.

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3. Two cables are tied together at C and loaded as shown. Determine the tension in cable
AC and BC.

4. Determine the value of P and E to maintain equilibrium of the forces.

5. The homogeneous cylinder of weight W rests in a frictionless right-angled corner.

Determine the contact forces NA and NB in terms of W and θ.

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Learning Plan
Lesson No: 3

Lesson Title: Equilibrium of Coplanar Parallel Force Systems

Let’s Hit These:

At the end of this lesson, students should be able to:
§ Solve problems involving coplanar parallel force systems.

Let’s Read:

The conditions for equilibrium for parallel force systems are determined from the
conditions necessary to create a zero resultant. In the previous module for solving resultants,
we found that the resultant of parallel force systems is determined by the equations

Since equilibrium means a zero resultant, we conclude that the independent equations
for equilibrium are

ΣF = 0; The sum of all forces is zero.

Σ𝑀) = 0 ; The sum of all the moments at any point is zero.

From which only two unknowns may be determined to hold a parallel force system in
equilibrium.

Example 3.1 Determine the reactions for the beam loaded as shown.

Figure 3.10
Solution:

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Example 3.2 The upper beam shown is supported at D and a roller at C which separates the
upper and lower beams. Determine the values of the reactions at A, B, C, and D. Neglect
the weight of the beams.

Figure 3.11
Solution:

FBD:

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Example 3.3 For the system of pulleys shown, a.) determine the ratio of W to P to maintain
equilibrium. Neglect axle friction and the weights of the pulleys. b.) If each pulley weighs
36 kg and W = 720 kg, find P to maintain equilibrium.

Figure 3.12
Solution:

FBD:

a.)

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b.)

Let’s Do This:

Exercise 3.3

1. Determine the reactions R1 and R2 of the beam is loaded with a concentrated load of
1600lb and a load varying from zero to an intensity of 400lb per ft.

2. A beam is loaded and supported as shown. Determine the components of the reactions
at supports A and B.

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3. A beam is loaded and supported as shown in Fig. 6-38a. Determine the components of
the reactions at supports A and B.

4. A rope and pulley system is used to support a body W as shown. Each pulley is free to
rotate. One rope is continuous over pulleys A and B; the other is continuous over pulley
C. Determine the tension T in the rope over pulleys A and B required to hold body W
in equilibrium if the mass of body W is 175 kg.

5. The roof truss shown is supported by a roller at A and a hinge at B. Find the values of
the reactions.

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Learning Plan
Lesson No: 4

Lesson Title: Equilibrium of Coplanar Non-Concurrent Force Systems

Let’s Hit These:

At the end of this lesson, students should be able to:
§ Solve problems involving coplanar non-concurrent force systems.

Let’s Read:

There are three equilibrium conditions that can be used for non-concurrent, non-parallel
force system.

Σ𝐹# = 0 or Σ𝐹+ = 0; The sum of all forces in the x-direction or horizontal is zero.
Σ𝐹' = 0 𝑜𝑟 Σ𝐹. = 0; The sum of all forces in the y-direction or vertical is zero.
Σ𝑀) = 0 ; The sum of all the moments at any point is zero.

The three equilibrium conditions can solved up to three unknowns in the system. If the
system involves more than three unknowns, it is called indeterminate. Indeterminate
structures are beyond the scope of Engineering Mechanics, it is one of the topics in Strength
of Materials and Theory of Structures.

Example 4.1 A boom AB is supported in a horizontal position by a hinge A and a cable

which runs from C over a small pulley at D as shown. Compute the tension T in the cable
and the horizontal and vertical components of the reaction at A. Neglect the size of the
pulley at D.

Figure 3.13

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Solution:

FBD:

Example 4.2 Compute the total reactions at A and B for the truss shown.

Figure 3.14
Solution:

FBD:

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Let’s Do This:

Exercise 3.4

1. A bar weighing 250lb is supported by a post and a cable as shown. Assume that all
surfaces are smooth. Determine the tension in the cable and the forces on the bar at the
contacting surfaces.

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2. Compute the reaction forces at the supports.

3. Determine the angle θ for which the uniform bar of length L and weight W will be in
equilibrium. Neglect friction.

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Learning Plan
Lesson No: 5

Lesson Title: Equilibrium of Spatial Concurrent Force Systems

Let’s Hit These:

At the end of this lesson, students should be able to:
§ Solve problems involving spatial concurrent force systems.

Let’s Read:

Figure 3.15 Spatial Concurrent Force System

There are six equilibrium conditions that can be used to for the equilibrium of spatial
concurrent force systems:

Σ𝐹# = 0 ; The sum of all forces in the x-direction is zero.

Σ𝐹' = 0 ; The sum of all forces in the y-direction is zero.
Σ𝐹S = 0 ; The sum of all forces in the z-direction is zero.
Σ𝑀# = 0 ; The sum of all the moments at the x-axis is zero.
Σ𝑀' = 0 ; The sum of all the moments at the y-axis is zero.
Σ𝑀S = 0 ; The sum of all the moments at the z-axis is zero.

Example 5.1 The framework shown is composed

of three members AB, AC and AD. Points B and Figure 3.16
C are on the same horizontal plane. Points C and
D are in the same vertical plane. At point A, a
1000lb force acts in a direction parallel to the X-
axis. Neglecting the weights of the members,
determine the forces in AB, AC and AD.

Solution:

We can find the moment just at any specific

point in either of the three axes. However, by
inspection, we need to choose the best point and
axis in order to solve a problem faster. For this example, a moment summation about the
y-axis at point C would help determine 𝐷# ,

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𝛴𝑀'V = 𝐴𝐷# (15′) − 1000𝑙𝑏(10Y ) = 0;

𝐴𝐷# = 667 𝑙𝑏

Using proportionality we can now solve for force AD and its remaining components,
𝑑[\ = √10^ + 14^ + 5^
𝑑[\ = √321

[\_ [\` [\a [\ eefgh \` \a \

#
= '
= S
= bcd
; ijY
= ikY
= lY
=
√m^iY

𝐴𝐷' = 993 𝑙𝑏, A𝐷S = 333 𝑙𝑏, A𝑫 = 𝟏𝟏𝟗𝟐 𝒍𝒃 (T)

Summation of forces at x-axis and equating it to zero,

𝛴𝑋 = 0
1000 𝑙𝑏 − 𝐴𝐶# − A𝐷# = 0
𝐴𝐶# = 333 𝑙𝑏

Using proportionality we can now solve for force AC and its remaining components,
𝑑[\ = √10^ + 20^ + 10^
𝑑[\ = √600

[s_ [s` [sa [s mmmgh s` sa s

#
= '
= S
= bcd
; ijY
= ^jY
= ijY
=
√ejjY

𝐴𝐶' = 667 𝑙𝑏, A𝐶S = 333 𝑙𝑏, A𝑪 = 𝟖𝟏𝟓 𝒍𝒃 (T)

Summation of forces at y-axis and equating it to zero,

𝛴𝑌 = 0
𝐴𝐵' − 𝐴𝐶' − 𝐴𝐷' = 0
𝑨𝑩 = 𝑨𝑩𝒚 = 𝟏𝟔𝟎𝟎 𝒍𝒃 (C)

Example 5.2 The points B, C, and D of the cantilever framework shown are attached to a
vertical wall. The 400lb load is parallel to the z-axis, and the 1200lb load is vertical.
Compute the force in each member.

Figure 3.17

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Solution:

FBD:

Solving for the diagonal distances,

𝑑[• = €10^ + 0^ + (−4)^ = 10.77′

𝑑[s = €10^ + 0^ + (4)^ = 10.77′
𝑑[\ = √10^ + 6^ + 0^ = 11.66′

Summation of forces at y-axis and equating it to zero,

𝛴𝐹' = 0
𝐷' − 1200 = 0
𝑫𝒚 = 𝟏𝟐𝟎𝟎 𝒍𝒃

Using proportionality we can now solve for force D and Dx,

\_ \` \
= = ;
# ' bcd
𝑫𝒙 = 𝟐𝟎𝟎𝟎 𝒍𝒃, 𝐃 = 𝟐𝟑𝟑𝟐 𝒍𝒃 (𝑻)

Summation of moment at point C y-axis,

𝛴𝑀s> = 0
−400(10) + 𝐵# (8) − 𝐷# (4) = 0
−400(10) + 𝐵# (8) − 2000(4) = 0
𝑩𝒙 = 1500𝑙𝑏

Using proportionality we can now solve for force B and Bz,

•_ •a •
= = ;
# S bc„
𝑩𝒛 = 𝟔𝟎𝟎 𝒍𝒃, 𝐁 = 𝟏𝟔𝟏𝟓. 𝟓 𝒍𝒃 (C)

Summation of forces at z-axis and equating it to zero,

𝛴𝐹S = 0
𝐵S − 𝐶S − 400 = 0
600 − 𝐶S − 400 = 0
𝑪𝒛 = 𝟐𝟎𝟎 𝒍𝒃

Using proportionality we can now solve for force C and Cx,

s_ sa s
= = ;
# S bcV
𝑪𝒙 = 𝟓𝟎𝟎 𝒍𝒃, 𝐂 = 𝟓𝟑𝟖. 𝟓 𝒍𝒃 (𝑪)

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 STATICS OF RIGID BODIES

Let’s Do This:

Exercise 3.5

1. The framework shown supports a vertical load of 2500lb. Points B, C, and D, are in the
same horizontal plane. Determine the force in each member.

2. The 6-m boom AB has a fixed end A. A steel cable is stretched from the free end B of
the boom to a Point C located on the vertical wall. If the tension in the cable is 2.5 KN,
determine the moment about A of the force exerted by the cable at B.

CE213: Statics of Rigid Bodies Page 99 of 108

 STATICS OF RIGID BODIES

Learning Plan
Lesson No: 6

Lesson Title: Equilibrium of Spatial Parallel Force Systems

Let’s Hit These:

At the end of this lesson, students should be able to:
§ Solve problems involving spatial parallel force systems.

Let’s Read:

Figure 3.18 Spatial Parallel Force System

There are three equilibrium conditions that can be used to for the equilibrium of spatial
parallel force systems:

Σ𝐹S = 0 ; The sum of all forces at the axis parallel to the forces is zero.
Σ𝑀# = 0 ; The sum of all the moments at the axis not parallel to the forces is zero.
Σ𝑀' = 0 ; The sum of all the moments at the axis not parallel to the forces is zero.

Example 6.1 The nonhomogeneous plate weighing 60 KN has its center of gravity at G. It
is supported in the horizontal plane by three vertical cables. Compute the tension in each
cable.

Figure 3.19

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 STATICS OF RIGID BODIES

Solution:

Summation of moment at y-axis and equating it to zero,

𝛴𝑀' = 0
𝑇[ (3.6) − 60(1.2) = 0
𝑻𝑨 = 𝟐𝟎 𝑲𝑵

Summation of moment at x-axis and equating it to zero,

𝛴𝑀# = 0
−𝑇• (0.8) − 𝑇s (3.0) + 60(1.0) = 0
0.8𝑇• + 3.2𝑇s = 60
ejŠ m.j‹V
𝑇• = j.Œ

Summation of forces at z-axis and equating it to zero,

𝛴𝐹S = 0
𝑇[ + 𝑇• + 𝑇s = 60
ejŠ m.j‹
20 + j.Œ V + 𝑇s = 60
ejŠ m.j‹V
j.Œ
+ 𝑇s = 40
60 − 3.2𝑇s + 0.8𝑇s = 32
60 − 3.2𝑇s + 0.8𝑇s = 32
ejŠ m^
𝑇s = m.jŠj.Œ
𝑻𝑪 = 𝟏𝟐. 𝟕𝟑 𝑲𝑵

ejŠ m.j‹V ejŠ m.j(i^.fm)

𝑇• = j.Œ
= j.Œ
𝑻𝑩 = 𝟐𝟕. 𝟐𝟔𝑲𝑵

Let’s Do This:

Exercise 3.6

1. The masses of cartons 1, 2, and 3, which rest on the platform shown are 300kg, 100kg,
and 200 kg, respectively. The mass of the platform is 500kg. Determine the tensions in
the three cables A, B, and C that support the platform.

CE213: Statics of Rigid Bodies Page 101 of 108

 STATICS OF RIGID BODIES

Learning Plan
Lesson No: 7

Lesson Title: Equilibrium of Spatial Non-Concurrent Force Systems

Let’s Hit These:

At the end of this lesson, students should be able to:
§ Solve problems involving spatial non-concurrent force systems.

Let’s Read:

Figure 3.20 Spatial Non-concurrent Force System

There are six equilibrium conditions that can be used to for the equilibrium of spatial
concurrent force systems:

Σ𝐹# = 0 ; The sum of all forces in the x-direction is zero.

Σ𝐹' = 0 ; The sum of all forces in the y-direction is zero.
Σ𝐹S = 0 ; The sum of all forces in the z-direction is zero.
Σ𝑀# = 0 ; The sum of all the moments at the x-axis is zero.
Σ𝑀' = 0 ; The sum of all the moments at the y-axis is zero.
Σ𝑀S = 0 ; The sum of all the moments at the z-axis is zero.

Example 7.1 The horizontal boom OC, which is supported by a ball-and-socket joint and two
cables, carries the vertical force P = 8000 lb. Calculate TAD and TCE , the tensions in the cables,
and the components of the force exerted on the boom by the joint at O. (The weight of the
boom is negligible).

Figure 3.21

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 STATICS OF RIGID BODIES

Solution:

Solving for the diagonal distances of the two cables,

𝑑[\ = √2.5^ + −3^ + 3^ = 4.92′
𝑑sŽ = √−3.5^ + −6^ + 3^ = 7.57′

Summation of moment at point O y-axis and equating it to zero,

𝛴𝑀•# = 0
8000(5) − 𝑇[\' (3)−𝑇sŽ' (6) = 0
3𝑇[\S + 6𝑇sŽS = 40,000
‹ (S) ‹ (S)
3 bcd + 6 bV• = 40,000
cd V•
‹ (m) ‹ (m)
3 cd
k.‘^
V•
+ 6 [Link] = 40,000
1.83𝑇[\ + 2.38𝑇sŽ = 40,000

Summation of moment at point O z-axis and equating it to zero,

𝛴𝑀•S = 0
𝑇[\# (3)−𝑇sŽ# (6) = 0
3𝑇[\# − 6𝑇sŽ# = 0
‹ (#) ‹ (Š#)
3 cd
b
− 6 V•
b
=0
cd V•
‹cd (^.l) ‹V• (Šm.l)
3 k.‘^ − 6 [Link] = 0
−1.52𝑇[\ + 2.77𝑇sŽ = 0

Equating the two equations with two unknowns,

+1.83𝑇[\ + 2.38𝑇sŽ = 40,000
−1.52𝑇[\ + 2.77𝑇sŽ = 0

𝑻𝑨𝑫 = 𝟏𝟐𝟕𝟓𝟓. 𝟏𝟑𝒍𝒃 (𝑻), 𝑻𝑪𝑬 = 𝟔𝟗𝟗𝟗. 𝟐𝟏𝒍𝒃 (T)

CE213: Statics of Rigid Bodies Page 103 of 108

 STATICS OF RIGID BODIES

Summation of forces at the three axes and equating it to zero,

𝛴𝐹# = 0
𝑂# + 𝑇[\# −𝑇sŽ# = 0
𝑂# = −𝑇[\# +𝑇sŽ#
‹ (^.l) ‹ (m.l)
𝑂# = − cd k.‘^
+ V• [Link]
i^[Link](^.l) e‘‘‘.^i(m.l)
𝑂# = − k.‘^
+ [Link]
𝑶𝒙 = −𝟑𝟐𝟒𝟓. 𝟏𝟕 𝒍𝒃 (directed to the negative x-direction)

𝛴𝐹' = 0
𝑂' − 𝑇[\' −𝑇sŽ' = 0
𝑂' = 𝑇[\' +𝑇sŽ'
‹cd (Šm) ‹V• (Še)
𝑂' = k.‘^
+ [Link]
i^[Link](m) e‘‘‘.^i(e)
𝑂' = k.‘^
+ [Link]
𝑶𝒚 = 𝟏𝟑, 𝟑𝟐𝟓. 𝟏𝟏 𝒍𝒃

𝛴𝐹S = 0
𝑂S + 𝑇[\S +𝑇sŽS − 8000 = 0
𝑂# = −𝑇[\S −𝑇sŽS + 8000
‹ (m) ‹V• (m)
𝑂# = − cdk.‘^
− [Link] +8000
i^[Link](m) e‘‘‘.^i(m)
𝑂# = − k.‘^
− [Link]
+ 8000
𝑶𝒙 = −𝟐𝟓𝟓𝟏. 𝟑𝟏 𝒍𝒃 (directed to the negative z-direction)

Let’s Do This:

Exercise 3.7

1. The bent bar of negligible weight is supported by a ball-and-socket joint at O, a cable

connected between A and E, and a slider bearing at D. The bar is acted on by a wrench
consisting of the force P and couple C, both parallel to the z-axis. Determine the
components of bearing reaction at D and the force in the cable using the given FBD.

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 STATICS OF RIGID BODIES

Let’s Check:

Exercise 3.1
1. 5 forces with 3 unknowns
2. 6 forces with 4 unknown
3. (a) 3 unknowns; (b) 4 unknowns; (c) 3 unknowns; (d) 3 unknowns

Exercise 3.2
1. P = 14.76 KN (C), F = 39 KN (T)
2. A = 60 KN, F = 28.30KN
3. AC = 2.5 KN (T), BC = 2.72KN (T)
4. P = 165.45lb, F = 412.44lb
5. θ = 33.7◦, NA = 0.555W, NB = 0.832W

Exercise 3.3
1. R1 = 1900lb, R2 = 2100
2. RA = 558lb up, RB = 1442lb up
3. RA = 9.75KN up, RB = 12.75KN up
4. T = 429N
5. RA = 96.67KN up, RB = 93.33KN up

Exercise 3.4
1. T = 108.2lb (T), A = 159.2lb up and C = 141.2lb
2. RA = 2121.32lb up left, RE = 6500lb up
3. θ = 15.12◦
Exercise 3.5

1. B = 1201.67 lb, C = 1001.38 lb, D = 1094.43 lb

2. MA = 9.23 KN.m

Exercise 3.6
1. TA = 3433.37N, TB = 3924.18N, TA = 3433.45N

Exercise 3.7

1. Dz = 571lb, TAE = 4500lb, Dx =1140lb (answers were rounded off)

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 STATICS OF RIGID BODIES

Suggested Readings/ Videos:

Free-Body Diagram
[Link]
[Link]
[Link]
[Link]
[Link]

Equilibrium of Coplanar Concurrent Force System

[Link]
[Link]
[Link]
[Link]
[Link]

Equilibrium of Coplanar Parallel Force System

[Link]
[Link]
[Link]

Equilibrium of Coplanar Non-Concurrent Force System

[Link]
rj23AEMNiLvBt2OBWskoAhofeZCXZ9
[Link]
rj23AEMNiLvBt2OBWskoAhofeZCXZ9&index=2
[Link]
rj23AEMNiLvBt2OBWskoAhofeZCXZ9&index=3
[Link]
rj23AEMNiLvBt2OBWskoAhofeZCXZ9&index=4
[Link]
rj23AEMNiLvBt2OBWskoAhofeZCXZ9&index=5
[Link]
rj23AEMNiLvBt2OBWskoAhofeZCXZ9&index=6
[Link]
rj23AEMNiLvBt2OBWskoAhofeZCXZ9&index=7

Equilibrium of Spatial Concurrent Force System

[Link]
[Link]
[Link]
[Link]
[Link]
[Link]
[Link]
rj23AEMNgXNB5wCkQYzoKjv_6Y0AwA&index=7
[Link]
rj23AEMNgXNB5wCkQYzoKjv_6Y0AwA&index=8
[Link]
rj23AEMNgXNB5wCkQYzoKjv_6Y0AwA&index=9

CE213: Statics of Rigid Bodies Page 106 of 108

 STATICS OF RIGID BODIES

[Link]
rj23AEMNgXNB5wCkQYzoKjv_6Y0AwA&index=10
[Link]
rj23AEMNgXNB5wCkQYzoKjv_6Y0AwA&index=11
[Link]
rj23AEMNgXNB5wCkQYzoKjv_6Y0AwA&index=12
[Link]
rj23AEMNgXNB5wCkQYzoKjv_6Y0AwA&index=13

Equilibrium of Spatial Parallel Force System

[Link]

Equilibrium of Spatial Non-Concurrent Force System

[Link]

Module Post Test:

Post-test will be conducted online on October 16, 2020 from 2 – 4pm.

References/Sources:

Hibbeler R.C. (2013). Engineering Mechanics: Statics 13th Edition. USA: Pearson

Pytel, A. & Kiusalaas, J. (2010). Vector Mechanics for Engineers: Statics 3rd Edition. USA:
Cengage Learning.

Singer F.L. (1970). Engineering Mechanics with Supplement 2nd Edition. New York: Harper
and Row Ltd.

CE213: Statics of Rigid Bodies Page 107 of 108