Engineering Mechanics

Equilibrium of Rigid Bodies

 Equilibrium
• System is in
equilibrium if
and only if the
sum of all the
forces and
moment (about
any point) equals
zero.
 Supports and Equilibrium
• Any structure is made of many
components.
• The components are the be connected by
linkages.
• Other wise the structure will lose its
integrity.
• Different component of structure talk to
each other via linkages.
• The structure should be globally
supported to prevent it from falling over.
 Different Structural Supports
• Supports are required to maintain
system in equilibrium.
• Too few supports makes system unstable
general loading
• Too many supports make the system
over-rigid.
 Constraints and Reactions
• There is an intricate relationship between
kinematics (motion) and reactions (forces).
• Always note that in the case of supports
displacement (rotation) and force (torque) in
any given direction are complementary.
• If a support rigidly constrains a given degree
of freedom (DOF) for a rigid body then it
gives rise to a reaction corresponding to that
DOF.
• Similarly if a support freely allows motion of
particular DOF then there is no reaction from
the support in that direction.
 Roller/Rocker

Support
reactions
in 2D pin/hinge
structures
 Simple Examples

Roller Support Fixed Support

 Using Symmetry to convert 3D problems to 2D

(adapted from http://oli.web.cmu.edu)

• Box has 3-planes of symmetry.

• Loading had only one plane of symmetry
• Using symmetry and static equivalence, the problem can be converted into a
2D problem
Simple Example

(http://oli.web.cmu.edu)
 Free Body Diagram (FBD)
• Single most important concept in
engineering mechanics.
• Zoom in on a given component of a structure.
• Means replace supports (connections) with the
corresponding reactions.
• Replace kinematic constraints with
corresponding reactions.
• Concepts will get more clear as we proceed
further.
 Simple examples
FBD

FBD

• Copyright, Dr. Romberg

More Examples
of FBD
 Equations of equilibrium in 2D
• Three equations per free body.
• More than three equations per free body is illegal.

•C

We can also use equations like this or like this where A, B, C are not in a
straight line
Another way to understand equations
of equilibrium
 Problem 1
• Determine the tension in cable ABD and
reaction at support C.
Hydrostatic force: FBD

F = 𝜌wgV
V = volume of mass
Categories of Equilibrium in 2D
Adequacy of
Constraints
Single Rigid Body Supported
Globally
 Problem 2
• A 70 kg (W) overhead garage door consists of a uniform rectangular panel
AC 2100 mm high (h), supported by the cable AE attached at the middle
of the upper edge of the door and by two sets of frictionless rollers at A
and B. Each set consists of two rollers one either side of the door. The
rollers A are free to move in horizontal channels, while rollers B are
guided by vertical channels. If the door is held in the position for which
BD=1050 mm, determine (a) the tension in the cable AE, (2) the reaction
at each of the four rollers. Assume a = 1050 mm, b = 700mm
 Multiple Rigid Bodies
Connected To Each Other
 Pin Connections

• All figures from http://oli.web.cmu.edu

Modeling 3D Problem as 2D
Point Connections
Contd..
Contd..
Free Body Diagram at Pin-Connection
 Summary

• Pin connection

• Pin support
Roller
Slot Connection
Non-Symmetrical but bodies connected
by pin are very close to each other
Free body diagrams – Examples

34
 Problem 3
• Knowing that each pulley has a radius of
250mm, determine the components of reactions
at D and E.
 Link: Two-Force Member

• Member with negligible weight and arbitrary shape

connected to other members by pins
Two Force member
Hydraulic Cylinder
 Problem 4
• The car hoist allows the car to be driven on to the platform, after
which the rear wheel is raised. If the loading from the rear wheel
is 3300kg, determine the force in the hydraulic cylinder AB.
Neglect the weight of the platform itself. Member BCD is a right
angle bell crank pinned to the ramp at C
—
 Problem 5
• An adjustable tow bar connecting the tractor unit H with the landing
gear J of a large aircraft is shown in the figure. Adjusting the height of
the hook F at the end of the tow bar is accomplished by the hydraulic
cylinder CD is activated by a small hand-pump (not shown). For the
nominal position shown of the triangular linkage ABC, calculate the force
P supplied by the cylinder to the pin C to position the tow bar. The rig
has a total weight of 220kg and is supported by the tractor hitch E.
System constrained to
various degrees
 Problem 6
• For the paper punch shown in the figure find the
punching force Q corresponding to a hand grip P.

compare with
A B C

D
E F
 The uniform beam has an
Problem 7 overall length of 6m and
a mass of 300kg. The
force P applied to the
hoisting cable is slowly
increased to raise the
ring C, the two 4-m ropes
AC and BC, and the
beam. Compute the
tensions in the ropes at A
and B when the beam is
clear of its supports and
Meriam,, Statics the force P is equal to the
weight of the beam
Problem 8 The figure shows a special
rig for erecting vertical
sections of a construction
tower. The assembly A has a
mass of 1.5Mg and is
elevated by the platform B
which itself has a mass of
2Mg. The platform is guided
up the fixed vertical
columns by rollers and is
activated by the hydraulic
cylinder CD and links EDF
and FH. For the particular
position shown calculate the
force R exerted by the
hydraulic cylinder at D.
Neglect mass of cylinder and
links.
 Problem 9

A hydraulic-lift table is used to raise a 1000 kg crate. It

consists of two identical linkages on which hydraulic cylinders
exert equal forces. Members EDB and CG are each of length 2a,
and member AD is pinned to the midpoint of EDB. If the crate
is placed on the table, so that half of its weight is supported by
the system shown, determine the force exerted by each cylinder
in raising the crate for θ = 60 deg, a = 0.70m, and L = 3.20m.
Show that the result obtained is independent of distance d.
 Problem 1
• The shear shown is used
to cut and trim electronic-
circuit board laminates.
For the position shown,
determine (a) the vertical
component of force
exerted on the shearing
blade at D, and (b) the
reaction at C. The value
of P = 400N
 Problem
The small crane is mounted on one side of the bed of a pickup
truck as shown. The weight of the barrel is 120 kg. For the
piston, θ = 40º, determine the magnitude of the force
supported by the pin at O and the oil pressure P against the
50 mm diameter piston of the hydraulic cylinder BC.
 Problem 2

• Obtain the clamping force Q developed for

the pliers when the handle force is P.
Determine the force in
cylinder AB due to the
combined weight of the
bucket and operator. The
combined mass is 180 kg with
mass centre at G.
Angle of Hydraulic cylinder AB
Force Fh Hydraulic cylinder AB
 Problem 3

• A 500-kg concrete slab is supported by a chain

and sling attached to the bucket of the front-end
loader shown. The action of the bucket is
controlled by two identical mechanisms, only one
of which is shown. Knowing that the mechanism
supports half of the 500-kg slab, determine the
force (a) in the cylinder CD, (b) in cylinder FH.
 Problem 4

• The elevation of a platform is controlled by two identical

mechanisms only one of which is shown. A load of 5 kN is
applied to the mechanism shown. Knowing that the pin at C
can transmit only a horizontal force, determine (a) the force
in link BE, (b) the components of the force exerted by the
hydraulic cylinder on pin H.
 Problem 5

• A hydraulic lift platform for loading trucks supports a weight

W of 5000N. Only one side of the system has been shown; the
other side is identical. If the diameter of the piston in the
cylinder (two) is 40 mm, what pressure p is needed to support
W when θ = 60o. Assume l = 240 mm, d = 600 mm, and e =
100 mm. Neglect friction everywhere.
 Problem 6
• A semicircular rod ABCD is supported by a roller at D and rests
on two frictionless cylinders at B and C. Find the maximum angle
force P can make from the vertical if applied at point A and the
rod remains in equilibrium.
 Problem 11
• In the toy folding chair shown, members ABEH and CFK are parallel.
Determine the components of all forces acting on member ABEH when a
160 N weight is placed on the chair. Draw completely all free body
diagrams required. It may be assumed that the floor is frictionless and
that half the weight is carried by each side of the chair and is applied at
point M as shown.