ENGINEERING MECHANICS

ME: 2303

EQUILIBRIUM OF RIGID
BODIES

Md. Akibul Islam

Assistant Professor,
Department of ME,DUET
 Contents

Introduction Practice
Free-Body Diagram Statically Indeterminate Reactions
Reactions at Supports and Equilibrium of a Rigid Body in Three
Connections for a Two- Dimensions
Dimensional Structure Reactions at Supports and Connections for a
Equilibrium of a Rigid Body in Three-Dimensional Structure
Two Dimensions Sample Problem 4.8
Sample Problem 4.1
Sample Problem 4.4

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 Introduction

• For a rigid body, the condition of static equilibrium means that the body under
study does not translate or rotate under the given loads that act on the body

• The necessary and sufficient conditions for the static equilibrium of a body are
that the forces sum to zero, and the moment about any point sum to zero:
   
 F  0  M O   r  F   0

• Equilibrium analysis can be applied to two-dimensional or three-dimensional

bodies, but the first step in any analysis is the creation of the free body diagram

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 Application

Engineers designing this crane will need to

determine the forces that act on this body
under various conditions.

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 Free-Body Diagram

The 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 body to be analyzed and detach it from the ground and
all other bodies and/or supports.

• Indicate point of application, magnitude, and direction of external

forces, including the rigid body weight.

• Indicate point of application and assumed direction of unknown

forces from reactions of the ground and/or other bodies, such as the
supports.

• Include the dimensions, which will be needed to compute the

moments of the forces.

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Reactions at Supports and Connections for a Two-
Dimensional Structure

• Reactions equivalent
to a force with known
line of action.

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Reactions at Supports and Connections for a Two-
Dimensional Structure

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

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

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 Equilibrium of a Rigid Body in Two Dimensions
• For known forces and moments that act on a two-
dimensional structure, the following are true:
Fz  0 M x  M y  0 M z  M O

• Equations of equilibrium become

 Fx  0  Fy  0  M A  0
where A can be any point in the plane of the body.

• The 3 equations can be solved for no more than 3

unknowns.

• The 3 equations cannot be augmented with

additional equations, but they can be replaced
 Fx  0  M A  0  M B  0

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 Statically Indeterminate Reactions

• Fewer unknowns than • Equal number unknowns

• More unknowns than
equations, partially and equations but
equations
constrained improperly constrained

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 Sample Problem 4.1
A fixed crane has a mass of 1000 kg and is used to lift a 2400 kg crate. It is held in place by a pin at A and a
rocker at B. The center of gravity of the crane is located at G. Determine the components of the reactions at A and B.

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 Sample Problem 4.1

SOLUTION:
• Create a free-body diagram for the crane.

• Determine 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 solving the equations

for the sum of all horizontal force components and all
vertical force components.

• Check the values obtained for the reactions by

verifying that the sum of the moments about B of all
forces is zero.

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 Sample Problem 4.1
• Determine B by solving the equation for the sum of the
moments of all forces about A.
MA  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.

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 Sample Problem 4.4
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.

SOLUTION:
Discuss with a neighbor the steps for
solving this problem

• Create a free-body diagram for the

frame and cable.

• Apply the equilibrium equations for the

reaction force components and couple at E.

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 Sample Problem 4.4
• A free-body diagram of the frame and of the cable BDF is drawn. The reaction at the fixed end E is
represented by the force components 𝑬𝒙 and 𝑬𝒚 and the couple 𝑴𝑬 . The other forces acting on the free
body are the four 20-kN loads and the 150-kN force exerted at end F of the cable.
Equilibrium Equations: Noting that DF= (4.5𝑚)2 +(6𝑚)2 = 7.5m

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 Practice

A 2100-lb tractor is used to lift 900 lb of

gravel. Determine the reaction at each of the
two rear wheels and two front wheels

• First, create a free body diagram.

• Second, apply the equilibrium conditions
to generate the three equations, and use
these to solve for the desired quantities.

Discuss among yourselves the steps

for solving this problem

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 Practice
• Draw the free body diagram of the tractor (on your own first).
• From among the choices, choose the best FBD, and discuss the
problem(s) with the other FBDs.
B.

A.

FA 2100 lb FB

FA 2100 lb FB

D.
C.

FA 2100 lb FB
FA 2100 lb FB

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 Practice

Now let’s apply the equilibrium

conditions to this FBD.

• Start with the moment equation:

 M pt  0

FA Discuss with a neighbor:

2100 lb FB

• What’s the advantage to
starting with this instead of the
Points A or B are equally
other conditions?
good because each results in
an equation with only one • About what point should we
unknown. sum moments, and why?

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 Practice

Assume we chose to use point B.

Choose the correct equation for
 M B  0.

A. + FA (60 in.) - 2100lb (40 in.)- 900 lb (50 in.) = 0


B. + FA (20 in.) - 2100lb (40 in.)- 900 lb (50 in.) = 0

C. - FA (60 in.) - 2100lb (40 in.) + 900 lb (50 in.) = 0

FA
2100 lb FB
D. - FA (60 in.) + 2100lb (40 in.)- 900 lb (50 in.) = 0
FA=650 lb, so the reaction at each wheel is 325 lb



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 Practice

Now apply the final equilibrium condition,

SFy = 0.

FA  2100 lb + FB  900 lb = 0
or + 650 lb 2100 lb + FB  900 lb = 0
 FB  2350 lb, or 1175 lb at each front wheel

Why was the third equilibrium

FA
2100 lb FB condition, SFx = 0 not used?


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 What if…?
W=?

• Now suppose we have a different

problem: How much gravel can this
tractor carry before it tips over?
• Discuss among yourselves the steps
for solving this problem
2100 lb FB • Hint: Think about what the free
body diagram would be for this
W
situation…

2100 lb FB

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 Problem 4.1
Bar AD is attached at A and C to collars that can move freely on the rods shown. If the cord BE is parallel to
the rod (𝛼 = 300 ), determine the tension in the cord and the reactions at A and C.

SOLUTION:
Discuss with a friend the steps for
solving this problem

• Create a free-body diagram for the

frame and cable.

• Apply the equilibrium equations for the

reaction force components and couple at E.

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 Problem 4.1

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 Problem 4.2
A vertical load P is applied at end B of rod BC. The constant of the spring is k, and the spring is unstretched when 𝜃=
600 (a) Neglecting the weight of the rod, express the angle 𝜃 corresponding to the equilibrium position in terms of P,
𝑘𝑙
k, and l. (b) Determine the value of 𝜃 corresponding to equilibrium if P = .
4

SOLUTION:
Discuss with a neighbor the steps for
solving this problem

• Create a free-body diagram for the

frame and cable.

• Apply the equilibrium equations for the

reaction force components and couple at C.

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 Problem 4.2

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 Problem 4.2

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 Problem 4.3
A vertical load P is applied at end B of rod BC. (a) Neglecting the weight of the rod, express the angle 𝜃
corresponding to the equilibrium position in terms of P, l, and the counterweight W. (b) Determine the value of 𝜃
corresponding to equilibrium if P = 2W.

SOLUTION:
Discuss with a neighbor the steps for
solving this problem

• Create a free-body diagram for the

frame and cable.

• Apply the equilibrium equations for the

reaction force components and couple at C.

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 Problem 4.3

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 Problem 4.3

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 Problem 4.4
A uniform rod AB of length 2R rests inside a hemispherical bowl of radius R as shown. Neglecting friction, determine
the angle 𝜃 corresponding to equilibrium.

SOLUTION:
Discuss among yourselves the steps
for solving this problem

• Create a free-body diagram for the

frame and cable.

• Apply the equilibrium equations for the

reaction force components

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 Problem 4.4
Point E is the point of intersection of the three forces. Since force A passes through O, the center of the circle, and
since force C is perpendicular to the rod, triangle ACE is a right triangle inscribed in the circle. Thus, E is a point on
the circle. Note that the angle α of triangle DOA is the central angle corresponding to the inscribed angle θ of
triangle DCA. α = 2θ

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 Equilibrium of a Rigid Body in Three Dimensions

• 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 or unknown applied forces.

• The scalar equations are conveniently obtained by applying the vector forms of the
conditions for equilibrium,
   
 F  0  M O   r  F   0

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Reactions at Supports and Connections for a Three-
Dimensional Structure

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Reactions at Supports and Connections for a Three-
Dimensional Structure

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 Sample Problem 4.8
A sign 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.

SOLUTION:

• Create a free-body diagram for the sign.

• Apply the conditions for static

equilibrium to develop equations for the
unknown reactions.

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 Sample Problem 4.8
A free-body diagram of the sign is drawn. The forces acting on the free body are the weight W = - (270 lb)j
and the reactions at A, B, and E. . All forces intersect with the x-axis, so SMX=0, so this equation is not
useful to the solution.
A≡ 0, 0, 0
B≡ 8, 0, 0
C≡ 0, 3, 2
D≡ 0, 4, -8
E≡ 6, 0, 0

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 Sample Problem 4.8
• Apply the conditions for static equilibrium to develop equations for the
unknown reactions.
    
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, TBD  101.3 lb TEC  315 lb
   
A  338 lbi  101.2 lb  j  22.5 lbk

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 Problem 4.5
A 200-mm lever and a 240-mm-diameter pulley are welded to the axle BE that is supported by bearings at C and D.
If a 720-N vertical load is applied at A when the lever is horizontal, determine (a) the tension in the cord, (b) the
reactions at C and D. Assume that the bearing at D does not exert any axial thrust.

SOLUTION:

• Create a free-body diagram for the system.

• Apply the conditions for static

equilibrium to develop equations for the
unknown reactions.

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 Problem 4.5

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 Acknowledgement

In this PowerPoint presentation, most of the slide has been made from the lecture note of
Ferdinand P. Beer. Russell Johnston, Jr. Special thanks to J. Walt Oler (Texas Tech
University ) for his valuable information about the Equilibrium of Rigid Bodies.

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